Publikation

Safe Long-Range Traversal for Planetary Rovers through Forward Sensing

Y. Nevatia, F. Bulens, J. Gancet, Y. Gao, S. Al-Mili, R. Kandiyil, Roland Sonsalla, Martin Fritsche, Thomas Vögele, E. Allouis, K. Skocki, S. Ransom, C. Saaj, M. Matthews, B. Yeomans, L. Richter, T.P. Kaupisch

In: Proceedings of the 12th Symposium on Advanced Space Technologies in Robotics and Automation. ESA/Estec Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA-2013) 12th Symposium on Advanced Space Technologies in Robotics and Automation May 15-17 Noordwijk Netherlands 5/2013.

Abstrakt

Despite the increase in autonomous capabilities of mobile robots, planetary exploration rovers are severely limited in their operational paradigms. Current rover operations, especially the traverse operations, involve day to day planning and simulation with human involvement for the estimation of potential dangers faced by the rover. Additionally, due to the large investment represented by the rovers, operations tend to be carried out in a cautious manner, with minimal autonomous deliberation. Such limits on the daily traverse, though motivated by concerns of safety and overall success, are not sufficient for future missions. This paper describes an operations concept for safe, long range traverses for planetary rovers based on forward sensing of terrain trafficability, and presents the software architecture enabling such operations.

Projekte

Weitere Links

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence