Towards an Anisotropic Fast Marching Method Applied to the Path Planning Task for Mars Rovers

This paper presents the application of the Anisotropic Fast Marching Method to the path planning problem of robots moving in spatial environments. The slope of a terrain should be considered in a tensorial way because at any point on a mountainside there are two main slopes: the maximum, which is the slope of the gradient, and the minimum, which is the perpendicular slope to the gradient. The resulting trajectory of the path planning should take both into account so that the slopes in the trajectory are minimized, just as the Romans used flocks of cows to make Roman roads and so that the descent of the road was small as possible.