Computer Science – Robotics
Scientific paper
Oct 1994
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1994aira.symp..113k&link_type=abstract
In JPL, Third International Symposium on Artificial Intelligence, Robotics, and Automation for Space 1994 p 113-116 (SEE N95-236
Computer Science
Robotics
Artificial Intelligence, Autonomous Navigation, Computer Vision, Feedback Control, Lunar Surface, Planetary Surfaces, Robot Control, Robot Dynamics, Robot Sensors, Robotics, Robots, Surface Navigation, Teleoperators, Terrain Following, Trajectory Planning, Aerospace Technology Transfer, Analog Simulation, Lunar Exploration, Optical Flow (Image Analysis), Pattern Recognition, Position Sensing, Rover Project, Stereoscopic Vision, Surveyor 5 Lunar Probe, Terrain Analysis, Test Stands, Three Dimensional Bodies
Scientific paper
Carnegie Mellon University has undertaken a research, development, and demonstration program to enable a robotic lunar mission. The two-year mission scenario is to traverse 1,000 kilometers, revisiting the historic sites of Apollo 11, Surveyor 5, Ranger 8, Apollo 17, and Lunokhod 2, and to return continuous live video amounting to more than 11 terabytes of data. Our vision blends autonomously safeguarded user driving with autonomous operation augmented with rich visual feedback, in order to enable facile interaction and exploration. The resulting experience is intended to attract mass participation and evoke strong public interest in lunar exploration. The encompassing program that forwards this work is the Lunar Rover Initiative (LRI). Two concrete technology demonstration projects currently advancing the Lunar Rover Initiative are: (1) The Dante/Mt. Spurr project, which, at the time of this writing, is sending the walking robot Dante to explore the Mt. Spurr volcano, in rough terrain that is a realistic planetary analogue. This project will generate insights into robot system robustness in harsh environments, and into remote operation by novices; and (2) The Lunar Rover Demonstration project, which is developing and evaluating key technologies for navigation, teleoperation, and user interfaces in terrestrial demonstrations. The project timetable calls for a number of terrestrial traverses incorporating teleoperation and autonomy including natural terrain this year, 10 km in 1995. and 100 km in 1996. This paper will discuss the goals of the Lunar Rover Initiative and then focus on the present state of the Dante/Mt. Spurr and Lunar Rover Demonstration projects.
Bares John
Katragadda Lalitesh
Krotkov Eric
Simmons Reid
Whittaker Red
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