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http://hdl.handle.net/2014/40330
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| Title: | Terrain adaptive navigation for Mars Rovers |
| Authors: | Matthies, Larry H.
Helmick, Daniel M.
Angelova, Anelia
Livianu, Matthew |
| Keywords: | rover navigations
slip prediction
traversabiity analysis |
| Issue Date: | 3-Mar-2007 |
| Publisher: | Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2007. |
| Citation: | IEEE Aerospace Conference, Big Sky, Montana, March 3-10, 2007. |
| Abstract: | A navigation system for Mars rovers in very rough terrain has been designed, implemented, and tested on a research rover in Mars analog terrain. This navigation system consists of several technologies that are integrated to increase the capabilities compared to current rover navigation algorithms. These technologies include: goodness maps and terrain triage, terrain classication, remote slip prediction, path planning, high-delity traversability analysis (HFTA), and slip-compensated path following. The focus of this paper is not on the component technologies, but rather on the integration of these components. Results from the onboard integration of several of the key technologies described here are shown. Additionally, the results from independent demonstrations of several of these technologies are shown. Future work will include the demonstration of the entire integrated system described here. |
| URI: | http://hdl.handle.net/2014/40330 |
| Appears in Collections: | JPL TRS 1992+
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