An Autonomous Path Planner Implemented on the Rocky7 Prototype Microrover
نویسندگان
چکیده
Much prior work in mobile robot path planning har been based on assumptions that are not really applicable for exploration of planetary terrains. Based on the first author’s experience with the recent Mars Pathfinder mission, this paper reviews the issues that are critical for successful autonomous navigation of planetary rovers. No currently proposed methodology accurately addresses ali of these issues. We next report on an extension of the recently proposed “Tangent Bug” algorithm. The implementation of this extended algorithm on the Rocky 7 Mars Rover prototype at the Jet Propulsion Laboratory is described, and experimental results are presented. In addition, experience with the limitations encountered by the Sojourner rover in actual Marh’an terrain suggest that terrain traversability must be more accurately handled in autonomous planning algorithms for interplanetary rovers.
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