行星漫游者安全导航与激光雷达定位的数值模拟

2021 IEEE 8th International Workshop on Metrology for AeroSpace (MetroAeroSpace) Pub Date : 2021-06-23 DOI:10.1109/MetroAeroSpace51421.2021.9511774

Anna Maria Gargiulo, I. di Stefano, A. Genova

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引用次数: 2

摘要

空间探索漫游者被设计用来研究太阳系天体的表面，寻找可居住条件和生物特征。这些车辆配备了仪表和传感器，可以完成现场操作。为了提高其在恶劣环境下的访问能力，机载系统包括能够避障和滑移预测的系统，这些系统代表了安全导航的基本功能。这项工作的重点是实现一种方法，该方法可以准确地再现车轮与土壤的相互作用，并预测漫游车在不同情况下的性能(例如，泥泞/漂移地形类型，陡峭地形)。我们实现了一个漫游者的3D模型来模拟它在路径上有障碍物的导航。我们的估计轨迹是通过光探测和测距(LIDAR)数据处理获得的，这使得同时定位和绘图(SLAM)成为可能。

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Numerical Simulations for Planetary Rovers Safe Navigation and LIDAR Based Localization

Space exploration rovers are designed to investigate the surface of celestial bodies in the Solar System, seeking habitability conditions and biosignatures. These vehicles are equipped with instrumentation and sensors that allow accomplishing in-situ operations. To increase their access capability to harsh environments, onboard systems are included to enable obstacle avoidance and slip prediction that represent fundamental functionalities for safe navigation. This work focuses on the implementation of a method that accurately reproduces the wheel-soil interaction and predicts rovers' performances in different scenarios (e.g., cloddy/drift terrain type, steep terrains). We implemented a 3D model of a rover to simulate its navigation with obstacles on the path. Our estimated trajectory is obtained through the Light Detection And Ranging (LIDAR) data processing, which enables the simultaneous localization and mapping (SLAM).

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来源期刊

2021 IEEE 8th International Workshop on Metrology for AeroSpace (MetroAeroSpace)

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