Autonomous navigation for planetary exploration by a mobile robot

International Conference on Recent Advances in Space Technologies, 2003. RAST '03. Proceedings of Pub Date : 1900-01-01 DOI:10.1109/RAST.2003.1303949

L. Yenilmez, H. Temeltas

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引用次数: 12

Abstract

This paper describes a complete approach for localization and path selection of any vehicle like a mobile robot to achieve any planetary exploration missions. In this study, localization process was realized on a mobile robot, Nomad 200, using its odometry and gyro measurements. These sensors information was integrated, by extended Kalman Filter (EKF) algorithm. On the other hand, on a given planetary surface, which can be obtained by using many separated cameras or using backpropagated beacons, a lot of safely traveled paths are formed due to the vehicle mission. A path selection was constructed due to its cost function among the selected paths. In this part, vehicle is forced to select a proper path to reach its target. This selection is performed using cost function of these paths. Cost values are strictly bounded to the surface of the planet. Only simulation results of this section were given. We believe that this path selection study presented here will satisfy valuable results on a real robotic vehicle that is suitable to navigate a planet like a rover.

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行星探测移动机器人自主导航

本文描述了一种完整的方法来实现任何车辆如移动机器人的定位和路径选择，以实现任何行星探测任务。在本研究中，利用Nomad 200移动机器人的里程测量和陀螺仪测量实现了定位过程。利用扩展卡尔曼滤波(EKF)算法对传感器信息进行整合。另一方面，在给定的行星表面上，由于飞行器的任务，可以通过使用许多独立的相机或使用反向传播的信标来获得许多安全行进的路径。根据所选路径的代价函数构造路径选择。在这个部分中，车辆被强制选择一条合适的路径来到达目标。这种选择是使用这些路径的代价函数来执行的。成本值被严格限制在地球表面。只给出了这部分的仿真结果。我们相信这里提出的路径选择研究将在一个适合像漫游者一样导航行星的真正的机器人车辆上满足有价值的结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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International Conference on Recent Advances in Space Technologies, 2003. RAST '03. Proceedings of

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