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This paper describes an efficient guidance method for a space rover in an unknown and GPS-denied environment. In an unknown planet, it is effective for an exploration to use a method called FastSLAM that performs simultaneously localization and mapping using combination of a particle filter and extended Kalman filter. On the other hand, a guidance low based on the potential function method has been used because it does not require path planning in advance and is enable to respond to the sudden topographic change. However, using these methods, local minima problem in the potential field is frequently occurred when designing repulsive potential functions so as to avoid landmarks. The great advantage of the proposed method is that it is simple to escape local minima by using a repulsive particle, which is designed by using particles in a particle filter. Experiments are performed to confirm the effectiveness of the proposed method.

Repulsive Particle Method Considering Escaping Local Minima in Unknown Environment