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Risk-Aware Planetary Rover Operation: Autonomous Terrain Classification and Path PlanningIdentifying and avoiding terrain hazards (e.g., soft soil and pointy embedded rocks) are crucial for the safety of planetary rovers. This paper presents a newly developed groundbased Mars rover operation tool that mitigates risks from terrain by automatically identifying hazards on the terrain, evaluating their risks, and suggesting operators safe paths options that avoids potential risks while achieving specified goals. The tool will bring benefits to rover operations by reducing operation cost, by reducing cognitive load of rover operators, by preventing human errors, and most importantly, by significantly reducing the risk of the loss of rovers.
Document ID
20160008261
Document Type
Conference Paper
External Source(s)
Authors
Ono, Masahiro (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Fuchs, Thoams J. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Steffy, Amanda (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Maimone, Mark (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Yen, Jeng (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
July 1, 2016
Publication Date
March 7, 2015
Subject Category
Cybernetics, Artificial Intelligence and Robotics
Meeting Information
IEEE Aerospace Conference(Big Sky, MT)
Distribution Limits
Public
Copyright
Other