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, 2022-10-23 - 2022-10-27, 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/ | ||||||||||||||||||||
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Document Type: | Conference or Workshop Item (Poster) | ||||||||||||||||||||
Title: | Datasets and Benchmarking of a path planning pipeline for planetary rovers | ||||||||||||||||||||
Authors: |
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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 Start Date: | 23 October 2022 | ||||||||||||||||||||
Event End Date: | 27 October 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: | 24 Apr 2024 20:51 |
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