Obstacle traversal for space exploration

摘要

Obstacle traversal aims at selecting a feasible path through an obstacle field. It is different from obstacle avoidance in that the path selected might climb over some obstacles if this is "cheaper" than going around. Climbing over obstacles allows to generate shorter paths in the case of large concave obstacles. A planner is presented that produces traversable paths, taking into account terrain topography, robot parameters, and robot/ground interaction. This planner is applicable to outdoor applications, such as Mars exploration, where absolute avoidance of obstacles is not necessary. Examples for a Mars rover are presented.