Volume 8 Number 10 (Oct. 2013)
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JSW 2013 Vol.8(10): 2620-2627 ISSN: 1796-217X
doi: 10.4304/jsw.8.10.2620-2627

Mission-Integrated Path Planning for Planetary Rover Exploration

Wu Peng, Ju Hehua

Beijing University of Technology, College of Electronic Information and Control Engineering, Beijing, China

Abstract—This paper presents a mission planning method for planetary rover. As a decision support system, mission planning is important for rover navigation and control. Generating travel path and task sequence synchronously is the key point. In this paper, the environment model of planetary surface is summed up as two parts which are obstacle map and timeline. According to this, the mission planner utilizes state space search method for path planning on obstacle map. When expanding state, it executes task sequence planning and scheduling on timeline. Experimental results showed that this method could conduct the path planning and task sequence planning synchronously, which proved the viability of the method.

Index Terms—Mission planning, Task scheduling, Timeline, Predicate calculus.br />


Cite: Wu Peng, Ju Hehua, "Mission-Integrated Path Planning for Planetary Rover Exploration," Journal of Software vol. 8, no. 10, pp. 2620-2627, 2013.

General Information

ISSN: 1796-217X (Online)
Frequency:  Quarterly
Editor-in-Chief: Prof. Antanas Verikas
Executive Editor: Ms. Yoyo Y. Zhou
Abstracting/ Indexing: DBLP, EBSCO, CNKIGoogle Scholar, ProQuest, INSPEC(IET), ULRICH's Periodicals Directory, WorldCat, etc
E-mail: jsweditorialoffice@gmail.com
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