After Mars Pathfinder’s success, a demand for new mobile robots for planetary exploration arose. These robots must be able to autonomously traverse long distances over rough, unknown terrain, under severe resource constraints. We present the “RoverBug” algorithm, which is complete, correct, requires minimal memory, and uses only on-board sensors, which are guided by the algorithm to sense only the data needed for navigation. The implementation of RoverBug on the Rocky7 Mars Rover prototype at the Jet Propulsion Laboratory (JPL) is described, and experimental results from operation in simulated martian terrain are presented.
RoverBug: Long range navigation for mars rovers
Lect Notes Control Inf Sci
30.04.2008
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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