Computational geometry: an introduction
Computational geometry: an introduction
Optimal Motion Planning of a Mobile Robot on a Triangulated Terrain Model
Selected Papers from the Workshop on Geometric Reasoning for Perception and Action
Automatic extraction of Irregular Network digital terrain models
SIGGRAPH '79 Proceedings of the 6th annual conference on Computer graphics and interactive techniques
Experience with rover navigation for lunar-like terrains
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 1 - Volume 1
Toward Reliable Off Road Autonomous Vehicles Operating in Challenging Environments
International Journal of Robotics Research
Autonomous Behavior Planning Scheme for Exploration Rover
SMC-IT '06 Proceedings of the 2nd IEEE International Conference on Space Mission Challenges for Information Technology
Terrain Modelling for Planetary Exploration
CRV '07 Proceedings of the Fourth Canadian Conference on Computer and Robot Vision
Path Planning for Planetary Exploration
CRV '08 Proceedings of the 2008 Canadian Conference on Computer and Robot Vision
Global planning on the Mars Exploration Rovers: Software integration and surface testing
Journal of Field Robotics - Special Issue on Space Robotics, Part II
Winning the DARPA grand challenge with an AI robot
AAAI'06 Proceedings of the 21st national conference on Artificial intelligence - Volume 1
A Path Planning System based on 3D Occlusion Detection for Lunar Exploration Rovers
SMC-IT '09 Proceedings of the Third IEEE International Conference on Space Mission Challenges for Information Technology
Leaving Flatland: Efficient real-time three-dimensional perception and motion planning
Journal of Field Robotics - Three-Dimensional Mapping, Part 1
Rough Terrain Reconstruction for Rover Motion Planning
CRV '10 Proceedings of the 2010 Canadian Conference on Computer and Robot Vision
Learning from Demonstration for Autonomous Navigation in Complex Unstructured Terrain
International Journal of Robotics Research
Robotics and Autonomous Systems
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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In this paper we present the approach for autonomous planetary exploration developed at the Canadian Space Agency. The goal of this work is to enable autonomous navigation to remote locations, well beyond the sensing horizon of the rover, with minimal interaction with a human operator. We employ LIDAR range sensors due to their accuracy, long range and robustness in the harsh lighting conditions of space. Irregular Triangular Meshes (ITMs) are used for representing the environment, providing an accurate, yet compact, spatial representation. In this paper a novel path-planning technique through the ITM is introduced, which guides the rover through flat terrain and safely away from obstacles. Experiments performed in CSA's Mars emulation terrain, validating our approach, are also presented.