@inproceedings{63c50c43cf07443490ecd351c268a0dc,
title = "Optimal Path Planning of Planetary Rovers with Safety Considerable",
abstract = "Aiming at the problem that dangerous terrain is difficult to avoid in extraterrestrial rover missions, an optimal path planning framework based on vibration information considering terrain constraints is proposed. The terrain hardness function is introduced to model the hardness characteristics of different terrain materials. The pseudo-spectral method is used to parameterize the optimal control problem which includes terrain constraints and the interior point method is used to optimize the parameters, thereby generating an optimal path that avoids obstacles and dangerous terrain at the same time, which is verified in a simulation environment.",
keywords = "Obstacle avoidance, Optimal control, Planetary rover, Terrain avoidance, Vibration information",
author = "Haonan Tang and Chengchao Bai and Jifeng Guo",
note = "Publisher Copyright: {\textcopyright} 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.; International Conference on Autonomous Unmanned Systems, ICAUS 2021 ; Conference date: 24-09-2021 Through 26-09-2021",
year = "2022",
doi = "10.1007/978-981-16-9492-9\_325",
language = "英语",
isbn = "9789811694912",
series = "Lecture Notes in Electrical Engineering",
publisher = "Springer Science and Business Media Deutschland GmbH",
pages = "3308--3320",
editor = "Meiping Wu and Yifeng Niu and Mancang Gu and Jin Cheng",
booktitle = "Proceedings of 2021 International Conference on Autonomous Unmanned Systems, ICAUS 2021",
address = "德国",
}