Energy-aware trajectory planning for planetary rovers

Planetary rovers are becoming indispensable for exploration activities and science missions. The rover used in such mission is often limited its operation time owing to power computational resources of the rover. In this paper, a trajectory planning method planetary proposed that considers vehicle dynamics, energy management dynamics approximated from dynamic simulation rover, which can estimate consumption accordance with terrain traversability generation solar array panel mounted on also taken into account. study confirmed usefulness method, especially scenarios where slopes could be observed, one result indicated margin improved by 4.1 kJ, 13.9% at maximum.