An autonomous path planner implemented on the Rocky7 prototype microrover

被引：0

作者：

Laubach, SL ^{[1
]}

Burdick, J ^{[1
]}

Matthies, L ^{[1
]}

机构：

[1] CALTECH, Jet Prop Lab, Pasadena, CA 91109 USA

来源：

1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Much prior work in mobile robot path planning has been based on assumptions that are unrealistic for exploration of planetary terrains. Based on the first author's experience with the Mars Pathfinder mission, this paper reviews issues that me critical for successful autonomous navigation of planetary revers. No currently proposed methodology accurately addresses all of these issues. We next report on an extension of the recently proposed "Tangent Bug" algorithm. The implementation of this extended algorithm on the Rocky 7 Mars Rover prototype at the Jet Propulsion Laboratory is described, and experimental results are presented In addition limitations encountered by the Sojourner rover in actual Martian terrain suggest that terrain traversability is a key issue for future interplanetary rover autonomous planning algorithms.

引用

页码：292 / 297

页数：2