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Datasets and Benchmarking of a path planning pipeline for planetary rovers

Vayugundla, Mallikarjuna and Kuhne, Moritz and Wedler, Armin and Triebel, Rudolph (2022) Datasets and Benchmarking of a path planning pipeline for planetary rovers. In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop: Evaluating Motion Planning Performance. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop: Evaluating Motion Planning Performance, 23-27 Oct 2022, Kyoto, Japan.

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Official URL: https://motion-planning-workshop.kavrakilab.org/papers/arches.pdf

Abstract

We present datasets of 2.5D elevation maps of planetary environment that were collected on Mt. Etna during the space-analogous ARCHES mission [1]. In addition to the raw elevation maps, we provide cost maps that encode the traversibility of the terrain. We demonstrate how these cost maps are used during our development of mapping and planning algorithms for ground based robots in the context of the planetary rover navigation. More specifically, we use the benchmarking pipeline to evaluate the parameters and choice of methods that are used for the 2.5D cost map generation, which in turn affects the path planning behavior. Finally, we showcase how the provided maps can be supplied as a test environment in Bench-MR, which is a framework for benchmarking of motion planning algorithms for wheeled robots.

Item URL in elib:https://elib.dlr.de/190102/
Document Type:Conference or Workshop Item (Poster)
Title:Datasets and Benchmarking of a path planning pipeline for planetary rovers
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Vayugundla, MallikarjunaMallikarjuna.Vayugundla (at) dlr.dehttps://orcid.org/0000-0002-9277-0461
Kuhne, MoritzMoritz.Kuhne (at) dlr.dehttps://orcid.org/0000-0002-4053-7510
Wedler, ArminArmin.Wedler (at) dlr.dehttps://orcid.org/0000-0001-8641-0163
Triebel, RudolphRudolph.Triebel (at) dlr.dehttps://orcid.org/0000-0002-7975-036X
Date:23 October 2022
Journal or Publication Title:2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop: Evaluating Motion Planning Performance
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Mapping, Path Planning, Robotics
Event Title:2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Workshop: Evaluating Motion Planning Performance
Event Location:Kyoto, Japan
Event Type:Workshop
Event Dates:23-27 Oct 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Planetary Exploration
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Kuhne, Moritz
Deposited On:02 Dec 2022 17:37
Last Modified:02 Dec 2022 17:37

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