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

Volume

1

fYear

2000

fDate

2000

Firstpage

926

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.844167

Filename

844167