Experimental Results from a Terrain Adaptive Navigation System for Planetary Rovers
نویسندگان
چکیده
Results from the experimental testing of a navigation system for planetary rovers called Terrain Adaptive Navigation (TANav) are shown here. This system was designed to enable greater access to and more robust operations in terrains with widely varying slippage. The system achieves this goal by using onboard stereo cameras to remotely classify terrain, predict the slippage of that terrain, and use this information in the planning of a path to the goal. An end-to-end onboard demonstration of the system in a Mars analog environment is shown with promising results.
منابع مشابه
Terrain Adaptive Navigation for planetary rovers
This paper describes the design, implementation, and experimental results of a navigation system for planetary rovers called Terrain Adaptive Navigation (TANav). This system was designed to enable greater access to and more robust operations within terrains of widely varying slippage. The system achieves this goal by using onboard stereo cameras to remotely classify surrounding terrain, predict...
متن کاملImproved Traversal for Planetary Rovers through Forward Acquisition of Terrain Trafficability *
Current operations of planetary rovers, especially the planning and execution of traverse operations, rely on human analysis and estimation of non-geometric hazards based on images captured by the rover. Despite the use of advanced path planning algorithms capable of avoiding obstacles, this limits daily traverse distances. This paper presents a system concept for planetary rovers capable of sa...
متن کامل3D Path planning using a fuzzy logic navigational map for Planetary Surface Rovers
This work proposes an innovative app navigation path-planning problem exploration rovers by including terrain characteristics. The objective is to enhance the typical 2D arithmetical cost function by adding 3D information computed from the laser-scanned terrain such as terrain height, slopes, shadows, orientation and terrain roughness. This paper describes the algorithm developed by UPM and GMV...
متن کاملInfrastructure Free Rover Localization
This paper introduces a system applicable to autonomous planetary exploration rovers that provides localization in the inevitable absence of a Global Positioning System (GPS). Given a terrain elevation map previously constructed from satellite imagery, the proposed method determines rover pose using new imagery from an onboard stereo camera system by combining visual odometry, 3D terrain matchi...
متن کاملAn Autonomous Sensor-Based Path-Planner for Planetary Microrovers
With the success of Mars Pathfinder’s Sojourner rover, a new era of planetary exploration has opened, with demand for highly capable mobile robots. These robots must be able to traverse long distances over rough, unknown terrain autonomously, under severe resource constraints. Based on the authors’ firsthand experience with the Mars Pathfinder mission, this paper reviews issues which are critic...
متن کامل