Path planning and execution monitoring for a planetary roverA path planner and an execution monitoring planner that will enable the rover to navigate to its various destinations safely and correctly while detecting and avoiding hazards are described. An overview of the complete architecture is given. Implementation and testbeds are described. The robot can detect unforseen obstacles and take appropriate action. This includes having the rover back away from the hazard and mark the area as untraversable in the in the rover's internal map. The experiments have consisted of paths roughly 20 m in length. The architecture works with a large variety of rover configurations with different kinematic constraints.
Document ID
19910050505
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Gat, Erann (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Slack, Marc G. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Miller, David P. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)