Experience with rover navigation for lunar-like terrains

Author

Simmons, Reid ; Krotkov, Eric ; Chrisman, Lonnie ; Cozman, Fabio ; Goodwin, Richard ; Hebert, Martial ; Katragadda, L. ; Koenig, Sven ; Krishnaswamy, Gita ; Shinoda, Yoshikazu ; Whittaker, William ; Klarer, Paul

Author_Institution

Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA

Volume

1

fYear

1995

fDate

5-9 Aug 1995

Firstpage

441

Abstract

Reliable navigation is critical for a lunar rover, both for autonomous traverses and safeguarded remote teleoperation. This paper describes an implemented system that has autonomously driven a prototype wheeled lunar rover over a kilometer in natural, outdoor terrain. The navigation system uses stereo terrain maps to perform local obstacle avoidance, and arbitrates steering recommendations from both the user and the rover. The paper describes the system architecture, each of the major components, and the experimental results to date

Keywords

computerised navigation; mobile robots; navigation; path planning; stereo image processing; telerobotics; autonomous traverses; local obstacle avoidance; lunar-like terrains; natural outdoor terrain; prototype wheeled lunar rover; rover navigation; safeguarded remote teleoperation; steering recommendations; stereo terrain maps; Earth; Humans; Laboratories; Moon; Navigation; Prototypes; Robot vision systems; Sensor fusion; Stereo vision; Supervisory control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on

Conference_Location

Pittsburgh, PA

Print_ISBN

0-8186-7108-4

Type

conf

DOI

10.1109/IROS.1995.525833

Filename

525833