Computer Science – Robotics
Scientific paper
Jan 1999
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1999stin...0054885m&link_type=abstract
Technical Report, Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA United States
Computer Science
Robotics
Autonomy, Mars Surface, Rocks, Roving Vehicles, Command And Control, Guidance (Motion), Robotics, Trajectory Planning, Position Sensing, Task Planning (Robotics), Mars (Planet), Prototypes, Mars Landing, Mars Exploration
Scientific paper
Future Mars exploration missions will perform two types of experiments: science instrument placement for close-up measurement, and sample acquisition for return to Earth. In this paper we describe algorithms we developed for these tasks, and demonstrate them in field experiments using a self-contained Mars Rover prototype, the Rocky 7 rover. Our algorithms perform visual servoing on an elevation map instead of image features, because the latter are subject to abrupt scale changes during the approach. 'This allows us to compensate for the poor odometry that results from motion on loose terrain. We demonstrate the successful grasp of a 5 cm long rock over 1m away using 103-degree field-of-view stereo cameras, and placement of a flexible mast on a rock outcropping over 5m away using 43 degree FOV stereo cameras.
Das Hari
Maimone Mark W.
Nesnas Issa A.
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