Integrating A* and APF for Dynamic Path Planning for the Mars Rover: A Fusion Approach to Avoid Deceptive Terrain.
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| Title: | Integrating A* and APF for Dynamic Path Planning for the Mars Rover: A Fusion Approach to Avoid Deceptive Terrain. |
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| Authors: | Liu, Zhenlei1 (AUTHOR) alex@sau.edu.cn, Wu, Hao2 (AUTHOR) wuhao17@stu.sau.edu.cn, Qi, Ji3 (AUTHOR) qiji2@stu.sau.edu.cn, Li, Yueyue4 (AUTHOR) yueyuel08@163.com, Xie, Quanjing2 (AUTHOR) xiequanjing@stu.sau.edu.cn |
| Source: | Journal of Aerospace Engineering. Jul2026, Vol. 39 Issue 4, p1-11. 11p. |
| Subjects: | Mars rovers, Potential field method (Robotics), Heuristic, Model validation, Robotic path planning |
| Abstract: | Mars exploration rovers must navigate treacherous deceptive terrain, which consists of surfaces that may appear easy to traverse but pose a significant risk of wheel slip, sinking, or rollover. Currently, these hazards are identified manually by mission operators. We propose a path-planning framework that integrates the A* algorithm with an artificial potential field (APF) method. By overlaying a repulsive field onto deceptive terrain, the rover is automatically guided to circumvent hazardous areas, thereby enhancing mission safety. To mitigate the excessive detours sometimes generated by a simplistic A*–APF coupling, we introduce a dynamic gain-scheduling rule that reduces the repulsive force as the rover successfully navigates away from danger. Further, we extend the conventional 2D curvature penalty into three dimensions to dampen oscillations on uneven ground. The effectiveness of this approach is validated through simulations in a virtual-reality model of the Martian surface. Experimental results indicate that the proposed enhanced fusion planner generates trajectories that are shorter, less risky, and significantly smoother in comparison to baseline methods, the experimental results show that the improved A*-APF algorithm reduces path length by up to 24.31%, path oscillation by up to 82.61%, and cumulative risk by up to 36.51%. [ABSTRACT FROM AUTHOR] |
| Copyright of Journal of Aerospace Engineering is the property of American Society of Civil Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 193805200 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Integrating A* and APF for Dynamic Path Planning for the Mars Rover: A Fusion Approach to Avoid Deceptive Terrain. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Liu%2C+Zhenlei%22">Liu, Zhenlei</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> alex@sau.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Wu%2C+Hao%22">Wu, Hao</searchLink><relatesTo>2</relatesTo> (AUTHOR)<i> wuhao17@stu.sau.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Qi%2C+Ji%22">Qi, Ji</searchLink><relatesTo>3</relatesTo> (AUTHOR)<i> qiji2@stu.sau.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Li%2C+Yueyue%22">Li, Yueyue</searchLink><relatesTo>4</relatesTo> (AUTHOR)<i> yueyuel08@163.com</i><br /><searchLink fieldCode="AR" term="%22Xie%2C+Quanjing%22">Xie, Quanjing</searchLink><relatesTo>2</relatesTo> (AUTHOR)<i> xiequanjing@stu.sau.edu.cn</i> – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22Journal+of+Aerospace+Engineering%22">Journal of Aerospace Engineering</searchLink>. Jul2026, Vol. 39 Issue 4, p1-11. 11p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Mars+rovers%22">Mars rovers</searchLink><br /><searchLink fieldCode="DE" term="%22Potential+field+method+%28Robotics%29%22">Potential field method (Robotics)</searchLink><br /><searchLink fieldCode="DE" term="%22Heuristic%22">Heuristic</searchLink><br /><searchLink fieldCode="DE" term="%22Model+validation%22">Model validation</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+path+planning%22">Robotic path planning</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: Mars exploration rovers must navigate treacherous deceptive terrain, which consists of surfaces that may appear easy to traverse but pose a significant risk of wheel slip, sinking, or rollover. Currently, these hazards are identified manually by mission operators. We propose a path-planning framework that integrates the A* algorithm with an artificial potential field (APF) method. By overlaying a repulsive field onto deceptive terrain, the rover is automatically guided to circumvent hazardous areas, thereby enhancing mission safety. To mitigate the excessive detours sometimes generated by a simplistic A*–APF coupling, we introduce a dynamic gain-scheduling rule that reduces the repulsive force as the rover successfully navigates away from danger. Further, we extend the conventional 2D curvature penalty into three dimensions to dampen oscillations on uneven ground. The effectiveness of this approach is validated through simulations in a virtual-reality model of the Martian surface. Experimental results indicate that the proposed enhanced fusion planner generates trajectories that are shorter, less risky, and significantly smoother in comparison to baseline methods, the experimental results show that the improved A*-APF algorithm reduces path length by up to 24.31%, path oscillation by up to 82.61%, and cumulative risk by up to 36.51%. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of Journal of Aerospace Engineering is the property of American Society of Civil Engineers and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1061/JAEEEZ.ASENG-6688 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 11 StartPage: 1 Subjects: – SubjectFull: Mars rovers Type: general – SubjectFull: Potential field method (Robotics) Type: general – SubjectFull: Heuristic Type: general – SubjectFull: Model validation Type: general – SubjectFull: Robotic path planning Type: general Titles: – TitleFull: Integrating A* and APF for Dynamic Path Planning for the Mars Rover: A Fusion Approach to Avoid Deceptive Terrain. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Liu, Zhenlei – PersonEntity: Name: NameFull: Wu, Hao – PersonEntity: Name: NameFull: Qi, Ji – PersonEntity: Name: NameFull: Li, Yueyue – PersonEntity: Name: NameFull: Xie, Quanjing IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 07 Text: Jul2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 08931321 Numbering: – Type: volume Value: 39 – Type: issue Value: 4 Titles: – TitleFull: Journal of Aerospace Engineering Type: main |
| ResultId | 1 |
