Traversability analysis and path planning for a planetary rover
Traversability analysis and path planning for a planetary rover
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DOI：
10.1023/a:1008831426966
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发表时间：
1999-04-01
影响因子：
3.5
通讯作者：
Gennery, DB
中科院分区：
文献类型：
--
作者：
Gennery, DB
描述了一种分析三维数据（例如可能由立体视觉或激光测距仪产生的三维数据）的方法，以便为诸如火星漫游者的车辆规划路径。为了从稀疏且不同精度的数据中产生稳健的结果，该方法考虑了每个数据点的精度（由其协方差矩阵表示）。它计算等距水平间隔的平滑和插值高度、坡度和粗糙度的估计值，以及这些量的准确度估计值。根据这些数据，计算成本函数，该函数考虑了行驶距离和每个区域可穿越的概率。还描述了寻找最小成本路径的并行搜索算法。提供了使用真实数据的示例。
A method of analyzing three-dimensional data such as might be produced by stereo vision or a laser range finder in order to plan a path for a vehicle such as a Mars rover is described. In order to produce robust results from data that is sparse and of varying accuracy, the method takes into account the accuracy of each data point, as represented by its covariance matrix. It computes estimates of smoothed and interpolated height, slope, and roughness at equally spaced horizontal intervals, as well as accuracy estimates of these quantities. From this data, a cost function is computed that takes into account both the distance traveled and the probability that each region is traversable. A parallel search algorithm that finds the path of minimum cost also is described. Examples using real data are presented.