Detection of Crater Structures to Enable Path Planning for Autonomous Robots in Lunar Environments

This talk introduces the task of planning a sufficent path for a walking robot which has to overcome a steep crater wall (36 degrees) in lunar environments. In the first part, the general shapes of lunar crates will be explained. Afterwards, problems which arise by such crater shapes will be discussed. The intended simulation will be shown with an crater landscape picture and in the end two preliminary appoaches based on 3d distance measurements and image processing will be up for further discussion