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Autonomous navigation and control of a Mars roverA Mars rover will need to be able to navigate autonomously kilometers at a time. This paper outlines the sensing, perception, planning, and execution monitoring systems that are currently being designed for the rover. The sensing is based around stereo vision. The interpretation of the images use a registration of the depth map with a global height map provided by an orbiting spacecraft. Safe, low energy paths are then planned through the map, and expectations of what the rover's articulation sensors should sense are generated. These expectations are then used to ensure that the planned path is correctly being executed.
Document ID
19910041996
Document Type
Conference Paper
Authors
Miller, D. P.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Atkinson, D. J.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Wilcox, B. H.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Mishkin, A. H.
(JPL Pasadena, CA, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1990
Subject Category
Ground Support Systems And Facilities (Space)
Meeting Information
IFAC Symposium(Tsukuba)
Distribution Limits
Public
Copyright
Other
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