A laser rangefinder path selection system for Martian rover using logarithmic scanning schemeThis paper deals with a laser rangefinder path selection scheme for an autonomous Martian roving vehicle. The overall scheme consists of the following interrelated sub-systems; logarithmic scanning sub-system, obstacle detection scheme (Sonalkar and Shen (1975); Kim and Shen (1978)), terrain modeling and estimation (Shen and Stare (1977); Pawlowski (1978)), and path selection algorithm (Netch and Shen (1977)). Independent and separate studies for the last three sub-systems were performed previously. With the introduction of the logarithmic scanning, an integrated study is completed in this paper. This study serves as a possible alternate choice other than TV cameras for navigating the Martian surface. Moreover, if hybrid TV and laser systems are used, a laser-only standby system can be put to work in case the TV part of the hybrid system fails to operate.
Document ID
19800053296
Acquisition Source
Legacy CDMS
Document Type
Conference Proceedings
Authors
Shen, C. N. (Rensselaer Polytechnic Inst. Troy, NY, United States)
Kim, C. S. (Rensselaer Polytechnic Institute, Troy, N.Y., United States)