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Long Range Navigation for Mars Rovers Using Sensor-Based Path Planning and Visual LocalisationThe Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain.
Document ID
20000056091
Acquisition Source
Jet Propulsion Laboratory
Document Type
Other
Authors
Laubach, Sharon L. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Olson, Clark F. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Burdick, Joel W. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Hayati, Samad (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States)
Date Acquired
September 7, 2013
Publication Date
January 1, 1999
Subject Category
Lunar And Planetary Science And Exploration
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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