|
|
|
|
Long Range Navigation for Mars Rovers
Using Sensor-Based Path Planning and Visual Localisation
Sharon L. Laubach, Clark F. Olson, Joel W. Burdick, and Samad Hayati In Proceedings of the 5th International Symposium on Artificial Intelligence, Robotics and Automation in Space, 1999. The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain. |
