lunar-rover-path-planning

DEM Generation and Local and Global Path Planning for Lunar Rover

DEM Generation and Local and Global Path Planning for Lunar Rover

Fig: Sample Local Path Plan for lunar rover

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Instructions

DEM generation

• Process NAC images in USGS ISIS and Ames Stereo Pipeline.
• Generate point cloud and obtain the .las format.
• Convert .las format into .csv using liblas library for importing to MATLAB.
• Checkout the Pg 6-28 of the doc for more details

Global path planning using coarse map data generated with DEMs

• Identify the all the cost functions.
• Plan the starting point.
• Plan the end point.
• Choose an algorithm for cost minimization from starting to end point and implementing.

Local path planning using stereo images from rover

• Pan the area using the stereo imaging.
• Map the ROI based on the imaging function.(cam2map)
• Identify the obstacles in image of minimum threshold and generate a field map based on obstacles.
• Identify the end point of traversal.
• Choose an algorithm for minimizing identified cost and implement for generating way points.
• Drive to the way points