TTA-GEP: Terrain Traversability Analysis with Geometry and Environmental Perception for the Path Planning of Planetary Rovers

Table 1

Mars terrain types.

Class	Description
Soil	Martian soil, flat and yellow-black in color.
Bedrock	Stones that are relatively flat and not exposed to the ground.
Rock	Stones that are large in size and completely exposed to the ground.
Rover	The body of the planetary rover.
Sky	Martian sky.
Ridge	Mountains in Mars.
Trace	Wheel trajectory.
Sand	Sandy region.
Hole	Traces left by the planetary rover during sampling.