NASA Jet Propulsion Laboratory California Institute of Technology Follow this link to skip to the main content

BEACON eSpace at Jet Propulsion Laboratory >
JPL Technical Report Server >
JPL TRS 1992+ >

Please use this identifier to cite or link to this item: http://hdl.handle.net/2014/41367

Title: Spatial coverage planning and optimization for planetary exploration
Authors: Gaines, Daniel M.
Estlin, Tara
Chouinard, Caroline
Keywords: onboard planning
execution
autonomy
Issue Date: 26-Feb-2008
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2007.
Citation: iSAIRAS 2008, Los Angeles, California, February 2, 2007.
Abstract: We are developing onboard planning and scheduling technology to enable in situ robotic explorers, such as rovers and aerobots, to more effectively assist scientists in planetary exploration. In our current work, we are focusing on situations in which the robot is exploring large geographical features such as craters, channels or regional boundaries. In to develop valid and high quality plans, the robot must take into account a range of scientific and engineering constraints and preferences. We have developed a system that incorporates multiobjective optimization and planning allowing the robot to generate high quality mission operations plans that respect resource limitations and mission constraints while attempting to maximize science and engineering objectives. An important scientific objective for the exploration of geological features is selecting observations that spatially cover an area of interest. We have developed a metric to enable an in situ explorer to reason about and track the spatial coverage quality of a plan. We describe this technique and show how it is combined in the overall multiobjective optimization and planning algorithm.
URI: http://hdl.handle.net/2014/41367
Appears in Collections:JPL TRS 1992+

Files in This Item:

File Description SizeFormat
07-4216.pdf185.9 kBAdobe PDFView/Open

Items in DSpace are protected by copyright, but are furnished with U.S. government purpose use rights.

 

Privacy/Copyright Image Policy Beacon Home Contact Us
NASA Home Page + Div 27
+ JPL Space
Site last updated on November 15, 2012.
If you have any comments or suggestions for this web site, please e-mail Alexander Smith or call 4-4202.