Slip Pridiction based Path Planning for Planetary Rovers

Most methods of path planning for planetary rovers were designed for fairly benign terrain and do not account for potential slippage. Though the TANav system addresses slip prediction issue,it does not integrate directional slip prediction into the path planning algorithm. This paper presents an autonomous navigation algorithm for planetary rover based on slip pridiction. This method does integrate directional slip prediction into the path planning algorithm resolving the essue of emerging higher-level behaviors such as planning a path with switch-backs up a slope. The result of simulation demonstrates that this method is effective.