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Enhanced Mars Rover Navigation Techniques
Richard Volpe, Tara Estlin, Sharon Laubach, Clark Olson, and J. (Bob) Balaram In Proceedings of the IEEE International Conference on Robotics and Automation, pages 926-931, 2000. Download (1092 K) Robust navigation through rocky terrain by small mobile robots is important for maximizing science return from upcoming missions to Mars. We are addressing this problem at multiple levels through the development of intelligent sequencing, sensor constrained path planning, natural terrain visual localization, and real-time state estimation. Each of these techniques will be described, and their complementary aspects discussed. Experimental results are provided from implementation on our Mars rover prototype operating in realistic scenarios. |
