Designing an Adaptive Velocity Obstacle Avoidance System for Autonomous Mars Rover Navigation in Dynamic Terrains
Over the past decade, various velocity obstacle-based methodologies have been developed to address collision avoidance in dynamic environments. Despite their advancements, these methods often face limitations when managing multiple obstacles, sequential encounters, or maintaining safety in complex,...
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Aerospace Research Institute
2024-12-01
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| Series: | فصلنامه علوم و فناوری فضایی |
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| Online Access: | https://www.jsstpub.com/article_214575_25904346a262e91e130b283b1eccf6cc.pdf |
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| author | Karim Ahmadi Dastgerdi SeyedehMarziyeh SalehiGhahfarokhi Sadegh Ahmadi Dastgerdi |
| author_facet | Karim Ahmadi Dastgerdi SeyedehMarziyeh SalehiGhahfarokhi Sadegh Ahmadi Dastgerdi |
| author_sort | Karim Ahmadi Dastgerdi |
| collection | DOAJ |
| description | Over the past decade, various velocity obstacle-based methodologies have been developed to address collision avoidance in dynamic environments. Despite their advancements, these methods often face limitations when managing multiple obstacles, sequential encounters, or maintaining safety in complex, unstructured terrains. This paper presents an adaptive collision avoidance strategy based on the velocity obstacle method, tailored to enable autonomous Mars rovers to navigate safely in dynamic and uncertain terrains while effectively avoiding multiple obstacles.The proposed strategy introduces an adaptive velocity cone framework, which dynamically accounts for moving obstacles and terrain features. This approach ensures continuous safety and seamless navigation toward designated waypoints. By integrating risk metrics, such as distance and time to the closest point of approach, the system dynamically switches between target-reaching and collision-avoidance modes, maintaining both efficiency and robustness.We validate the proposed methodology through simulations of Mars exploration scenarios, encompassing challenging multi-obstacle environments. The results demonstrate significant performance improvements, including increased safety distances and enhanced adaptability in navigating unstructured terrains. These findings highlight the suitability of the approach for autonomous planetary exploration, where collision avoidance is critical to safeguarding sensitive equipment, optimizing energy consumption, and ensuring mission success.The adaptive strategy represents a step forward in ensuring reliable navigation in extraterrestrial settings, paving the way for safer and more efficient Mars rover missions. |
| format | Article |
| id | doaj-art-68fc280678184f73a2cfed2b081e0a17 |
| institution | DOAJ |
| issn | 2008-4560 2423-4516 |
| language | fas |
| publishDate | 2024-12-01 |
| publisher | Aerospace Research Institute |
| record_format | Article |
| series | فصلنامه علوم و فناوری فضایی |
| spelling | doaj-art-68fc280678184f73a2cfed2b081e0a172025-08-20T03:11:15ZfasAerospace Research Instituteفصلنامه علوم و فناوری فضایی2008-45602423-45162024-12-0117Special Issue (S1)596510.22034/jsst.2024.1518214575Designing an Adaptive Velocity Obstacle Avoidance System for Autonomous Mars Rover Navigation in Dynamic TerrainsKarim Ahmadi Dastgerdi0SeyedehMarziyeh SalehiGhahfarokhi1Sadegh Ahmadi Dastgerdi2School of Arch, Tech and Eng, University of Brighton, Brighton, UK.Graduated student, Brighton, UKResearcher, Tehran,IranOver the past decade, various velocity obstacle-based methodologies have been developed to address collision avoidance in dynamic environments. Despite their advancements, these methods often face limitations when managing multiple obstacles, sequential encounters, or maintaining safety in complex, unstructured terrains. This paper presents an adaptive collision avoidance strategy based on the velocity obstacle method, tailored to enable autonomous Mars rovers to navigate safely in dynamic and uncertain terrains while effectively avoiding multiple obstacles.The proposed strategy introduces an adaptive velocity cone framework, which dynamically accounts for moving obstacles and terrain features. This approach ensures continuous safety and seamless navigation toward designated waypoints. By integrating risk metrics, such as distance and time to the closest point of approach, the system dynamically switches between target-reaching and collision-avoidance modes, maintaining both efficiency and robustness.We validate the proposed methodology through simulations of Mars exploration scenarios, encompassing challenging multi-obstacle environments. The results demonstrate significant performance improvements, including increased safety distances and enhanced adaptability in navigating unstructured terrains. These findings highlight the suitability of the approach for autonomous planetary exploration, where collision avoidance is critical to safeguarding sensitive equipment, optimizing energy consumption, and ensuring mission success.The adaptive strategy represents a step forward in ensuring reliable navigation in extraterrestrial settings, paving the way for safer and more efficient Mars rover missions.https://www.jsstpub.com/article_214575_25904346a262e91e130b283b1eccf6cc.pdfadaptive coneautonomous navigationmars roverobstacle avoidancevelocity algorithms |
| spellingShingle | Karim Ahmadi Dastgerdi SeyedehMarziyeh SalehiGhahfarokhi Sadegh Ahmadi Dastgerdi Designing an Adaptive Velocity Obstacle Avoidance System for Autonomous Mars Rover Navigation in Dynamic Terrains فصلنامه علوم و فناوری فضایی adaptive cone autonomous navigation mars rover obstacle avoidance velocity algorithms |
| title | Designing an Adaptive Velocity Obstacle Avoidance System for Autonomous Mars Rover Navigation in Dynamic Terrains |
| title_full | Designing an Adaptive Velocity Obstacle Avoidance System for Autonomous Mars Rover Navigation in Dynamic Terrains |
| title_fullStr | Designing an Adaptive Velocity Obstacle Avoidance System for Autonomous Mars Rover Navigation in Dynamic Terrains |
| title_full_unstemmed | Designing an Adaptive Velocity Obstacle Avoidance System for Autonomous Mars Rover Navigation in Dynamic Terrains |
| title_short | Designing an Adaptive Velocity Obstacle Avoidance System for Autonomous Mars Rover Navigation in Dynamic Terrains |
| title_sort | designing an adaptive velocity obstacle avoidance system for autonomous mars rover navigation in dynamic terrains |
| topic | adaptive cone autonomous navigation mars rover obstacle avoidance velocity algorithms |
| url | https://www.jsstpub.com/article_214575_25904346a262e91e130b283b1eccf6cc.pdf |
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