Planning routes of continuous illumination and traversable slope using connected component analysis
Planning routes of continuous illumination and traversable slope using connected component analysis
复制标题
使用连通分量分析规划连续照明和可穿越坡度的路线
DOI：
10.1109/icra.2015.7139751
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
W. Whittaker
中科院分区：
文献类型：
--
作者：
N. Otten;H. Jones;David S. Wettergreen;W. Whittaker
本文提出了一种应用连接分量分析的方法来规划路线，使机器人在到达一个或多个目标位置时保持连续照明并在可穿越的斜坡上。这样的路线有望延长太阳能机器人的寿命、航程和科学回报，让它们探索光照条件不断变化但可预测的环境，尤其是月球和水星。计算了描述这些位置和时间限制的照明和地面坡度的地图，并使用连接分量分析找到了所有具有直射阳光和安全坡度的不同相互连接的区域。这些三维连接的组件被修剪掉了违反时间限制的根和在不连续的路线上死角的分支。每个组件都是一个图的基础，该图包含了从该组件的初始时间到最终时间的所有可行路线。用a *搜索法求出同一组件内一对起始点和目标点之间最短可行路径，并以其总长度和平均速度为特征。马拉珀特峰和沙克尔顿陨石坑都在月球南极附近，由于它们与月球相对太阳的运动引起的高度相关、动态和可预测的照明，因此在本文中作为例子。
This paper presents a method that applies connected component analysis to plan routes that keep robots continuously illuminated and on traversable slopes while reaching one or more goal locations. Such routes promise to extend the lifespan, range, and scientific return of solar-powered robots exploring environments with changing but predictable lighting conditions, particularly those of the Moon and Mercury. Maps of lighting and ground slope that describe these constraints in position and time are computed, and all distinct interconnected regions that have both direct sunlight and safe slope are found using connected component analysis. These three-dimensional connected components are pruned of roots that violate time constraints and branches that dead-end in discontinuous routes. Each component is the basis for a graph that includes all feasible routes from the initial time to the final time of that component. The shortest feasible route between a pair of start and goal positions within the same component is found using A* search and is characterized by its total length and average speed. Malapert Peak and Shackleton Crater, both near the Moon's South Pole, serve as examples throughout this paper due to their highly-relevant, dynamic, and predictable lighting caused by the Moon's motion relative to the Sun.