Title :
Enhanced Mars rover navigation techniques
Author :
Volpe, Richard ; Estlin, Tara ; Laubach, Sharon ; Olson, Clark ; Balaram, J.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Robust navigation through rocky terrain by small mobile robots is important for maximizing science return from missions to Mars. We are addressing this problem at multiple levels through the development of intelligent sequencing, sensor constrained path planning, natural terrain visual localization, and real-time state estimation. Each of these techniques is described and their complementary aspects discussed. Experimental results are provided from implementation on our Mars rover prototype operating in realistic scenarios
Keywords :
mobile robots; path planning; planetary rovers; robot vision; state estimation; stereo image processing; Mars rover; enhanced navigation techniques; intelligent sequencing; natural terrain visual localization; real-time state estimation; robust navigation; rocky terrain; sensor constrained path planning; small mobile robots; Aircraft navigation; Cameras; Intelligent sensors; Laboratories; Mars; Path planning; Propulsion; Sensor systems; State estimation; Sun;
Conference_Titel :
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on
Conference_Location :
San Francisco, CA
Print_ISBN :
0-7803-5886-4
DOI :
10.1109/ROBOT.2000.844167
