5:15 PM - 6:45 PM
[PPS09-P07] Platform for Planning and Visualizing Traverses of Mobile Objects on Surface Explorations
Keywords:The Moon, Rover, Lunar Explorations, Visualization, Path Planning, Software Engineering
With the increasing interest in rover missions to the Moon and Mars, scientists need to plan and pre-verify the path of rover to accomplish the mission. There are two major methods for pre-verification of rover movement: one is the verification in a simulated environment on Earth, and the other is the verification in a virtual digital simulated environment. Even the former is done, verification in a digital environment is essential. In addition, evaluation of the path planned by algorithms based on graph theory and geometry is also essential.
Several simulators and tools have been reported and developed for verification on the digital environment, but these are scarce in the public. There are also few environments in which path planning algorithms can be compared and verified. Therefore, this study aims to develop and provide a platform for rover-based exploration planning and testing of path planning algorithms. It helps researchers concentrate on devising algorithms. This platform aims to include example of implementation codes as a tutorial, and available to the public. The platform consists of a two-stage structure, providing generic functions for each mission and allowing users to extend the platform on their own.
As a tutorial, we have developed a code that renders the Digital Elevation Model (DEM) and simulates path planning algorithms. As a comparison, several path planning algorithms, such as the A* algorithm and the artificial potential method, can be verified at arbitrary start and end points. The trade-offs can be examined by visualizing the distance of the planned path and the change in elevation values on the path. In addition, a ranking system for the candidates of paths has been introduced. The ranking system evaluates and ranks routes based on various indicators and an evaluation function using them.
We would like to demonstrate our development in this poster presentation and would like to ask users' opinions.
Several simulators and tools have been reported and developed for verification on the digital environment, but these are scarce in the public. There are also few environments in which path planning algorithms can be compared and verified. Therefore, this study aims to develop and provide a platform for rover-based exploration planning and testing of path planning algorithms. It helps researchers concentrate on devising algorithms. This platform aims to include example of implementation codes as a tutorial, and available to the public. The platform consists of a two-stage structure, providing generic functions for each mission and allowing users to extend the platform on their own.
As a tutorial, we have developed a code that renders the Digital Elevation Model (DEM) and simulates path planning algorithms. As a comparison, several path planning algorithms, such as the A* algorithm and the artificial potential method, can be verified at arbitrary start and end points. The trade-offs can be examined by visualizing the distance of the planned path and the change in elevation values on the path. In addition, a ranking system for the candidates of paths has been introduced. The ranking system evaluates and ranks routes based on various indicators and an evaluation function using them.
We would like to demonstrate our development in this poster presentation and would like to ask users' opinions.