RAPF: Efficient path planning for lunar microrovers

TL;DR

The paper introduces RAPF, an improved artificial potential field algorithm for lunar microrovers that enhances path planning reliability and efficiency in complex terrains, enabling real-time navigation with limited computational resources.

Contribution

It presents RAPF, a novel path planning algorithm that incorporates robot position and local minima avoidance, outperforming existing APF methods in success rate and computational efficiency.

Findings

RAPF outperforms state-of-the-art APF algorithms by over 15% in reachability.

RAPF achieves a 200% higher success rate and 50% lower computation time.

Real-time path planning is feasible on limited processing power for lunar microrovers.

Abstract

Efficient path planning is key for safe autonomous navigation over complex and unknown terrains. Lunar Zebro (LZ), a project of the Delft University of Technology, aims to deploy a compact rover, no larger than an A4 sheet of paper and weighing not more than 3 kilograms. In this work, we introduce a Robust Artificial Potential Field (RAPF) algorithm, a new path-planning algorithm for reliable local navigation solution for lunar microrovers. RAPF leverages and improves state of the art Artificial Potential Field (APF)-based methods by incorporating the position of the robot in the generation of bacteria points and considering local minima as regions to avoid. We perform both simulations and on field experiments to validate the performance of RAPF, which outperforms state-of-the-art APF-based algorithms by over 15% in reachability within a similar or shorter planning time. The improvements resulted in a 200% higher success rate and 50% lower computing time compared to the conventional APF algorithm. Near-optimal paths are computed in real-time with limited available processing power. The bacterial approach of the RAPF algorithm proves faster to execute and smaller to store than path planning algorithms used in existing planetary rovers, showcasing its potential for reliable lunar exploration with computationally constrained and energy constrained robotic systems.