Fast Approximate Clearance Evaluation for Kinematically Constrained Articulated Suspension Systems

by   Kyohei Otsu, et al.

In this paper, we present a light-weight collision detection algorithm for motion planning of planetary rovers with articulated suspension systems. Extraterrestrial path planning is challenging due to the combination of terrain roughness and severe limitation in computational resources. Path planning on cluttered and/or uneven terrains requires repeated collision detection on all the candidate paths at a small interval. Solving the exact collision detection problem for articulated suspension systems requires simulating the vehicle settling on the terrain, which involves an inverse-kinematics problem with iterative nonlinear optimization under geometric constraints. However, such expensive computation is intractable for slow spacecraft computers, such as the RAD750 that is used by the Curiosity Mars rover and upcoming Mars 2020 rover. We propose the Approximate Clearance Evaluation (ACE) algorithm, which obtains conservative bounds on vehicle clearance, attitude, and suspension angles without iterative computation. It obtains those bounds by estimating the lowest and highest heights that each wheel may reach given the underlying terrain, and calculating the worst-case vehicle configuration associated with those extreme wheel heights. The bounds are guaranteed to be conservative, hence ensuring vehicle safety during autonomous navigation. ACE is planned to be used as part of the new onboard path planner of the Mars 2020 rover. This paper describes the algorithm in detail and validates our claim of conservatism and fast computation through experiments.


page 1

page 4

page 7


RADMPC: A Fast Decentralized Approach for Chance-Constrained Multi-Vehicle Path-Planning

Robust multi-vehicle path-planning is important for ensuring the safety ...

Time Distance: A Novel Collision Prediction and Path Planning Method

Motion planning is an active field of research in robot navigation and a...

Efficient Computation of Collision Probabilities for Safe Motion Planning

We address the problem of safe motion planning. As mobile robots and aut...

Inverse kinematics and path planning of manipulator using real quantifier elimination based on Comprehensive Gröbner Systems

Methods for inverse kinematics computation and path planning of a three ...

Optimal Stochastic Vehicle Path Planning Using Covariance Steering

This work addresses the problem of vehicle path planning in the presence...

TOPPQuad: Dynamically-Feasible Time Optimal Path Parametrization for Quadrotors

Planning time-optimal trajectories for quadrotors in cluttered environme...

Exploiting AIS Data for Intelligent Maritime Navigation: A Comprehensive Survey

The Automatic Identification System (AIS) tracks vessel movement by mean...

Please sign up or login with your details

Forgot password? Click here to reset