A micro-rover navigation and control system for autonomous planetary exploration

Authors: Landzettel K.; Steinmetz B-M.; Brunner B.; Arbter K.; Pollefeys M.; Vergauwen M.; Moreas R.; Xu F.; Steinicke L.; Fontaine B.

Source: Advanced Robotics, Volume 18, Number 3, 2004 , pp. 285-314(30)

Publisher: VSP, an imprint of Brill

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Abstract:

This paper describes an end-to-end control system for autonomous navigation of a small vehicle at a remote place, e.g. in space for planetary exploration. Due to a realistic background of this study the proposed method has to deal with limited knowledge about the environment as well as limited system resources and operational boundary conditions, especially a very large time delay in the communication between the ground control station and the space segment. To overcome these constraints the remote system has to act in a very autonomous way. Ground support minimizes the computational load of the remote system. High-level information interchange reduces the communication bandwidth requirements.

Keywords: AUTONOMOUS SPACE ROBOTS; NAVIGATION; TERRAIN MODELING; PATH PLANNING; GROUND CONTROL

Document Type: Research article

DOI: http://dx.doi.org/10.1163/156855304322972459

Publication date: 2004-04-01