This paper introduces a path planning algorithm that
takes into consideration different locomotion modes in
a wheeled reconfigurable rover. Such algorithm, based
on Fast Marching, calculates the optimal path in terms
of power consumption between two positions, providing
the most appropriate locomotion mode to be used
at each position. Finally, the path planning algorithm is
validated on a virtual Martian scene created within the
V-REP simulation platform, where a virtual model of a
planetary rover prototype is controlled by the same software
that is used on the real one. Results of this contribution
also demonstrate how the use of two locomotion
modes, wheel-walking and normal-driving, can reduce
the power consumption for a particular area.Universidad de Málaga. Campus de Excelencia Internacional Andalucía Tech
