Title :
Stereo vision based navigation for Sun-synchronous exploration
Author :
Urmson, Chris P. ; Dias, M. Bernadine ; Simmons, Reid G.
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
This paper describes the navigation system used on a prototype sun-synchronous robot. Sun-synchrony is a concept that will enable exploration missions by solar-powered rovers that could last months or years. This paper presents the navigation algorithms developed for traversing natural terrain robustly. The novel elements of this work are the refinements necessary to transform laboratory-demonstrated technologies into a form useful for robust, Sun-synchronous exploration. Results of afield experiment in the Canadian Arctic, where the robot traversed 6.1km, 90% autonomously, are also presented.
Keywords :
aerospace robotics; computerised navigation; mobile robots; planetary rovers; position control; robot vision; stereo image processing; Hyperion; Sun-synchronous robot; mobile robot; navigation system; robustness; solar panels; solar powered rovers; stereo vision; traversability; Arctic; Laboratories; Motion planning; Navigation; Orbital robotics; Robots; Robustness; Solar power generation; Stereo vision; USA Councils;
Conference_Titel :
Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on
Print_ISBN :
0-7803-7398-7
DOI :
10.1109/IRDS.2002.1041489