A micro-rover navigation and control system for autonomous planetary exploration

被引：2

作者：

Landzettel, K

Steinmetz, BM

Brunner, B

Arbter, K

Pollefeys, M

Vergauwen, M

Moreas, R

Xu, FY

Steinicke, L

Fontaine, B

机构：

[1] DLR, Inst Robot & Mechatron, D-82230 Wessling, Germany

[2] Katholieke Univ Leuven, B-3001 Heveclee, Belgium

[3] SAS, B-1932 Zaventem, Belgium

来源：

ADVANCED ROBOTICS | 2004年 / 18卷 / 03期

关键词：

autonomous space robots; navigation; terrain modeling; path planning; ground control;

D O I：

10.1163/156855304322972459

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

This paper describes an end-to-end control system for autonomous navigation of a small vehicle at a remote place, e.g. in space for planetary exploration. Due to a realistic background of this study the proposed method has to deal with limited knowledge about the environment as well as limited system resources and operational boundary conditions, especially a very large time delay in the communication between the ground control station and the space segment. To overcome these constraints the remote system has to act in a very autonomous way. Ground support minimizes the computational load of the remote system. High-level information interchange reduces the communication bandwidth requirements.

引用

下载

页码：285 / 314

页数：30

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