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Proceedings Paper

Sensor-fused autonomous guidance of a mobile robot and applications to Mars sample return operations
Author(s): Terrance L. Huntsberger; Eric T. Baumgartner; Hrand Aghazarian; Yang Cheng; Paul S. Schenker; Patrick C. Leger; Karl D. Iagnemma; Steven Dubowsky
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Paper Abstract

Generally, there are multiple sensor suites on existing rover platforms such as NASA's Sample Return Rover (SRR) and the Field Integrated Design and Operations (FIDO) rover at JPL. Traditionally, these sensor suites have been used in isolation for such tasks as planetary surface traversal. For example, although distant obstacle information is known from the narrow FOV navigation camera (NAVCAM) suite on SRR or FIDO, it is not explicitly used at this time for augmentation of the wide FOV hazard camera (HAZCAM) information for obstacle avoidance. This paper describes the development of advanced rover navigation techniques. These techniques include an algorithm for the generation of range maps using the fusion of information from the NAVCAMs and HAZCAMs, and an algorithm for registering range maps to an a priori model-based range map for relative rover position and orientation determination. Experimental result for each of these techniques are documented in this paper.

Paper Details

Date Published: 26 August 1999
PDF: 7 pages
Proc. SPIE 3839, Sensor Fusion and Decentralized Control in Robotic Systems II, (26 August 1999); doi: 10.1117/12.360327
Show Author Affiliations
Terrance L. Huntsberger, Jet Propulsion Lab. (United States)
Eric T. Baumgartner, Jet Propulsion Lab. (United States)
Hrand Aghazarian, Jet Propulsion Lab. (United States)
Yang Cheng, Jet Propulsion Lab. (United States)
Paul S. Schenker, Jet Propulsion Lab. (United States)
Patrick C. Leger, Carnegie Mellon Univ. (United States)
Karl D. Iagnemma, Massachusetts Institute of Technology (United States)
Steven Dubowsky, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 3839:
Sensor Fusion and Decentralized Control in Robotic Systems II
Gerard T. McKee; Paul S. Schenker, Editor(s)

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