Adaptive Path Planning for Unmanned Planetary Rover with Dynamic Obstacle

Abstract

More and more wheeled planetary probes have been applied to exploration missions in order to realize the exploration of extraterrestrial planets. In order to ensure the ability to perform tasks in complex environments, planetary vehicles need the ability of autonomous path planning and obstacle avoidance. In this paper, RRT* and dynamic window approach are combined to complete autonomous path planning and dynamic obstacle avoidance under the dynamic environment with some prior map information. The simulation and physical verification under ROS development platform and Jackal unmanned vehicle platform are realized. It provides ideas for path planning and obstacle avoidance of unmanned planetary vehicles in static and dynamic environments.