Obstacle Avoidance and Safeguarding for a Lunar Rover
نویسندگان
چکیده
We are developing techniques for safeguarding the remote operation of lunar rovers. This paper presents two complementary techniques: One, based on stereo vision, evaluates the traversability of paths the rover could follow, and produces preferences for steering directions. The other, based on laser proximity sensing, looks for hazards immediately in front of the rover, commanding an emergency stop if any are detected. The stereo-based technique provides reliable obstacle avoidance, but operates fairly slowly, while the laser-based technique operates faster and is more conservative in its evaluations. The stereo-based obstacle avoidance planner has been used to drive a rover over ten kilometers in outdoor, natural terrain. The laser proximity system has been tested, and is currently being integrated with the rest of the rover system.
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