An autonomous path planning of a rover utilizing multi-image shape from shading

Koki Fujita, Shinji Hokamoto

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

For planetary exploration, path planning for a rover is one of the important missions. This paper deals with Shape from Shading (SfS) scheme for estimation of planet terrain. As a reliable reflectance model of a surface, the Hapke model is formed in the world of remote sensing. This paper proposes to utilize the Hapke model in the SfS algorithm for multiple camera images. Since the Hapke model has singularity when the gradient vector of a surface element is coincident with a certain direction, the model is modified not to show the singularity. As a result, the SfS algorithm is applicable to multiple camera images and valid regardless of the degree of albedo of the surface. Applying the proposed SfS algorithm for multiple images, an autonomous path planning based on Dynamic Programming is shown. The effectiveness of the proposed scheme is investigated in numerical simulations, and some discussion about the results is presented.

Original languageEnglish
Title of host publicationAIAA/AAS Astrodynamics Specialist Conference and Exhibit
PublisherAmerican Institute of Aeronautics and Astronautics Inc.
ISBN (Print)9781624101243
Publication statusPublished - Jan 1 2002
EventAIAA/AAS Astrodynamics Specialist Conference and Exhibit 2002 - Monterey, CA, United States
Duration: Aug 5 2002Aug 8 2002

Publication series

NameAIAA/AAS Astrodynamics Specialist Conference and Exhibit

Other

OtherAIAA/AAS Astrodynamics Specialist Conference and Exhibit 2002
CountryUnited States
CityMonterey, CA
Period8/5/028/8/02

Fingerprint

trajectory planning
cameras
dynamic programming
space exploration
albedo
remote sensing
planets
reflectance
gradients
simulation

All Science Journal Classification (ASJC) codes

  • Astronomy and Astrophysics

Cite this

Fujita, K., & Hokamoto, S. (2002). An autonomous path planning of a rover utilizing multi-image shape from shading. In AIAA/AAS Astrodynamics Specialist Conference and Exhibit (AIAA/AAS Astrodynamics Specialist Conference and Exhibit). American Institute of Aeronautics and Astronautics Inc..

An autonomous path planning of a rover utilizing multi-image shape from shading. / Fujita, Koki; Hokamoto, Shinji.

AIAA/AAS Astrodynamics Specialist Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc., 2002. (AIAA/AAS Astrodynamics Specialist Conference and Exhibit).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Fujita, K & Hokamoto, S 2002, An autonomous path planning of a rover utilizing multi-image shape from shading. in AIAA/AAS Astrodynamics Specialist Conference and Exhibit. AIAA/AAS Astrodynamics Specialist Conference and Exhibit, American Institute of Aeronautics and Astronautics Inc., AIAA/AAS Astrodynamics Specialist Conference and Exhibit 2002, Monterey, CA, United States, 8/5/02.
Fujita K, Hokamoto S. An autonomous path planning of a rover utilizing multi-image shape from shading. In AIAA/AAS Astrodynamics Specialist Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc. 2002. (AIAA/AAS Astrodynamics Specialist Conference and Exhibit).
Fujita, Koki ; Hokamoto, Shinji. / An autonomous path planning of a rover utilizing multi-image shape from shading. AIAA/AAS Astrodynamics Specialist Conference and Exhibit. American Institute of Aeronautics and Astronautics Inc., 2002. (AIAA/AAS Astrodynamics Specialist Conference and Exhibit).
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