Path Planning Based on Energy Constraints of Mars Rover

doi:10.13190/j.jbupt.2019-025

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2019, Vol. 42 ›› Issue (5): 107-112.doi: 10.13190/j.jbupt.2019-025

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Path Planning Based on Energy Constraints of Mars Rover

LIU Tao¹, TANG Ling¹, YUAN Bao-feng², WEI Shi-min¹

1. School of Automation, Beijing University of Posts and Telecommunications, Beijing 100876, China;
2. Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications, Beijing Institute of Spacecraft System Engineering, Beijing 100094, China

Received:2019-02-28 Online:2019-10-28 Published:2019-11-25

Abstract

Abstract: Aiming at the excessive energy consumption of Mars rover on Mars, a path planning algorithm based on energy constraints is proposed. Firstly, considering overcoming gravity work and internal loss of driving mechanism, the motion energy consumption function of Mars rover is deduced, and its minimum value is solved. Therefore, the energy weighted map is constructed. Then, the energy consumption minimal path of the energy weighted graph is calculated by Dijkstra algorithm and using quintic polynomial interpolation to realize trajectory planning. Finally, Adams is used to establish the typical terrain of Mars and dynamics model of Mars rover, and Matlab/Simulink is used to build the controller model of Mars rover. The dynamics and control simulation of Mars rover in typical environment is used to verify the effectiveness of the path planning algorithm. The results show that compared with the traditional avoidance algorithm, the energy consumption of Mars rover is reduced by more than 15% using the proposed path planning algorithm, which can effectively improve the energy utilization efficiency of Mars rover.

Key words: Mars rover, kinematics, energy consumption, path planning

CLC Number:

TP242

LIU Tao, TANG Ling, YUAN Bao-feng, WEI Shi-min. Path Planning Based on Energy Constraints of Mars Rover[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2019, 42(5): 107-112.

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Path Planning Based on Energy Constraints of Mars Rover

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