An autonomous behaviour based path planner on planetary rover

Much prior work in mobile rover path planning has been based on assumptions that are unrealistic for exploration of planetary terrains. This paper presents a new autonomous behavior based path planning approach for planetary rover. The constraints of rover's maneuverability and planetary terrain's traversability are both satisfied completely in our approach. It works by three steps: First, an expanded & colored obstacle image for path planning is constructed. Then, a serial of subgoals are planned using Path Finder, and a serial of local optimal stops are obtained. Last, a fine path fitting the serial of substops is derived according to rover's maneuverability and planetary terrain's traversability. At the same time, we purpose the basic terms, definitions and theorems. In addition, we present the simulation results in the real world.