Skip to main content Skip to main navigation

Publikation

Improved Traversal for Planetary Rovers through Forward Acquisition of Terrain Trafficability

Yashodhan H. Nevatia; Jeremi Gancet; Francois Bulens; Thomas Vögele; Roland Sonsalla; Chakravarthini M. Saaj; William A. Lewinger; Marcus Matthews; Brian Yeomans; Yang Gao; Elie Allouis; Barbara Imhof; Stephen Ransom; Lutz Richter; Krzysztof Skocki
In: Proceedings of International Conference on Robotics and Automation. IEEE International Conference on Robotics and Automation (ICRA-2013), International Conference on Robotics and Automation - Planetary Rovers Workshop, May 6-10, Karlsruhe, Germany, 5/2013.

Zusammenfassung

Current operations of planetary rovers, especially the planning and execution of traverse operations, rely on human analysis and estimation of non-geometric hazards based on images captured by the rover. Despite the use of advanced path planning algorithms capable of avoiding obstacles, this limits daily traverse distances. This paper presents a system concept for planetary rovers capable of safe traversal beyond the immediate range of navigation through forward sensing of terrain trafficability, resulting in improved traversal speeds.

Projekte

Weitere Links