This paper presents a set of algorithms for piloting an autonomous planetary rover along a planned path, performing real-time obstacle avoidance and improving a dead reckoning capability. Path tracking is accomplished using linear regulation (feedback) of position and orientation errors, measured with respect to the planned path trajectory. Obstacle avoidance is performed through the application of the concept of an artificial potential field to data that can be aquired using a scanning rangefinder. Dead reckoning is improved by the algorithmic filtering and fusing of odometry and inertial navigation data streams. Computer simulation is used to illustrate the path-tracking and obstacle-avoidance capabilities, and experimental data is used to show how sensor fusion mitigates the effects of wheel-slippage and integration-error in dead reckoning.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Path tracking, obstacle avoidance and dead reckoning by an autonomous planetary rover


    Additional title:

    Algorithmus zur Spurverfolgung und zum Hindernisausweichen für ein Explorationsfahrzeug


    Contributors:

    Published in:

    Publication date :

    1998


    Size :

    24 Seiten, 21 Bilder, 1 Tabelle, 18 Quellen



    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    Path tracking, obstacle avoidance and dead reckoning by an autonomous planetary rover

    Green,D.N. / Sasiadek,J.Z. / Carleton Univ.,Dep.of Mechanical and Aerospace Engng.,CA | Automotive engineering | 1998


    CNN based Curved Path Detection and Obstacle Avoidance for Autonomous Rover

    G, Sudeep Aryan / Meher Srinavas R, Bhanu / K, Neethika et al. | IEEE | 2023


    Machine Learning-based Obstacle Avoidance Path Planning of Agricultural Rover

    Chatterjee, Pratyusha / Mitra, Debajyoti / Bhowmik, Tanima | IEEE | 2024


    Stereo Perception and Dead Reckoning for a Prototype Lunar Rover

    Krotkov, E. / Hebert, M. / Simmons, R. | British Library Online Contents | 1995


    Obstacle-avoidance path planning and tracking control of an autonomous vehicle

    Sun, Zhe / Li, Shengrui / Hong, Yiting et al. | IEEE | 2022