Professor of Mechanical Engineering and Smart Structures, School of Computing Engineering and Mathematics, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
Abstract—This paper describes the efficient strategy for guidance and control of a space rover using estimated position and a map acquired by using FastSLAM (Simultaneous Localization and Mapping) algorithm using a particle filter. A guidance law based on potential function method is also designed to cope with topographical change on a planet. Using the method, local minima problem in the potential field are frequently occurred when designing repulsive potential functions so as to avoid obstacles. To overcome the problem, we propose the new method that generates repulsive potential function at particles in FastSLAM for an exploration rover in unknown environment. Numerical results are performed to verify the validity of the proposed method for solving local minimum problem. Adaptive temperature parallel simulated annealing (ATPSA) method that is usually used to escape local minima is also applied to the system for comparison.
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