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Proceedings Paper

Fault-tolerant action selection for planetary rover control
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Paper Abstract

The ability of a small rover to operate semi-autonomously in a hazardous planetary environment was recently demonstrated by the Sojourner mission to Mars in July of 1997. Sojourner stayed within a 50 meter radius of the Pathfinder lander. Current NASA plans call for extended year-long, multikilometer treks for the 2003 and 2005 missions. A greater deal of rover autonomy is required for such missions. We have recently developed a hybrid wavelet/neural network based system called BISMARC (Biologically Inspired System for Map-based Autonomous Rover Control), that is capable of such autonomy. Simulations reported at this meeting last year demonstrated that the system is capable of control for multiple rovers involved in a multiple cache recovery scenario. This robust behavior was obtained through the use of a free-flow hierarchy as an action selection mechanism. This paper extends BISMARC to include fault tolerance in the sensing and mechanical rover subsystems. The results of simulation studies in a Mars environment are also reported.

Paper Details

Date Published: 9 October 1998
PDF: 7 pages
Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); doi: 10.1117/12.326996
Show Author Affiliations
Terrance L. Huntsberger, Univ. of South Carolina (United States)

Published in SPIE Proceedings Vol. 3523:
Sensor Fusion and Decentralized Control in Robotic Systems
Paul S. Schenker; Gerard T. McKee, Editor(s)

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