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Proceedings Paper

Sensor-fused navigation and manipulation from a planetary rover
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Paper Abstract

This paper describes the development of advanced rover navigation and manipulation techniques for use by NASA's Sample Return Rover. These techniques include an algorithm for estimating the change in the rover's position and orientation by registering successive range maps from the rover's hazard avoidance stereo camera pair and the fusion of this information with the rover's wheel odometry. This map registration technique is also extended to register range maps to an a priori model-based range map for relative rover position and orientation determination. Finally, a technique for the robust and precise positioning of a rover- mounted manipulator using visual feedback from the rover's stereo pair is presented. Experimental results for each of these techniques is documented in this paper.

Paper Details

Date Published: 9 October 1998
PDF: 9 pages
Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); doi: 10.1117/12.327015
Show Author Affiliations
Eric T. Baumgartner, Jet Propulsion Lab. (United States)
Patrick C. Leger, Carnegie Mellon Univ. (United States)
Paul S. Schenker, Jet Propulsion Lab. (United States)
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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