NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Ambler - An autonomous rover for planetary explorationThe authors are building a prototype legged rover, called the Ambler (loosely an acronym for autonomous mobile exploration robot) and testing it on full-scale, rugged terrain of the sort that might be encountered on the Martian surface. They present an overview of their research program, focusing on locomotion, perception, planning, and control. They summarize some of the most important goals and requirements of a rover design and describe how locomotion, perception, and planning systems can satisfy these requirements. Since the program is relatively young (one year old at the time of writing) they identify issues and approaches and describe work in progress rather than report results. It is expected that many of the technologies developed will be applicable to other planetary bodies and to terrestrial concerns such as hazardous waste assessment and remediation, ocean floor exploration, and mining.
Document ID
19890063032
Document Type
Reprint (Version printed in journal)
External Source(s)
Authors
Bares, John (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Hebert, Martial (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Kanade, Takeo (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Krotkov, Eric (Carnegie-Mellon Univ. Pittsburgh, PA, United States)
Mitchell, Tom (Carnegie-Mellon University Pittsburgh, PA, United States)
Date Acquired
August 14, 2013
Publication Date
June 1, 1989
Publication Information
Publication: Computer
Volume: 22
ISSN: 0018-9162
Subject Category
GROUND SUPPORT SYSTEMS AND FACILITIES (SPACE)
Funding Number(s)
CONTRACT_GRANT: NAGW-1175
Distribution Limits
Public
Copyright
Other