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Recent progress in local and global traversability for planetary rovers
Abstract
Autonomous planetary rovers operating in vast unknown environments must operate efficiently because of size, power and computing limitations. Recently, we have developed a rover capable of efficient obstacle avoidance and path planning. The rover uses binocular stereo vision to sense potentially cluttered outdoor environments. Navigation is performed by a combination of several modules that each "vote" for the next best action for the robot to execute. The key distinction of our system is that it produces globally intelligent behavior with a small computational resource - all processing and decision making are done on a single processor. These algorithms have been tested on our outdoor prototype rover, Bullwinkle, and have recently driven the rover 100 m at a speed of 15 cm/sec. In this paper we report on the extension on the systems that we have previously developed that were necessary to achieve autonomous navigation in this domain.
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Cites
The Laplacian pyramid as a compact image code
Burt, P., & Adelson, E. (1983) · IEEE Transactions on Communications · doi:10.1109/tcom.1983.1095851 · Cited by 6,077
Cited by
The CLARAty architecture for robotic autonomy
Volpe, R., Nesnas, I., Estlin, T., Mutz, D., Petras, R., & Das, H. (2002) · 2001 IEEE Aerospace Conference Proceedings (Cat. No.01TH8542) · doi:10.1109/aero.2001.931701 · Cited by 265
The Mars Exploration Rover Surface Mobility Flight Software: Driving Ambition
Biesiadecki, J. J., & Maimone, M. W. (2006) · 2006 IEEE Aerospace Conference · doi:10.1109/aero.2006.1655723 · Cited by 117
Terrain Adaptive Navigation for Planetary Rovers
Helmick, D., Angelova, A., & Matthies, L. (2009) · Journal of Field Robotics · doi:10.1002/rob.20292 · Cited by 103
Metadata
- Authors
- Singh, S., Simmons, R., Smith, T., Stentz, A., Verma, V., Yahja, A., & Schwehr, K.
- Venue
- Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)
- Publisher
- IEEE
- Published
- 2002-11-07
- Volume
- 2
- Pages
- 1194-1200
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2099065300
- Cited by
- 248
- References
- 1
- FWCI
- 12.07
- Type
- conference paper
- Language
- en
- Open access
- closed
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- Singh, S., Simmons, R., Smith, T., Stentz, A., Verma, V., Yahja, A., & Schwehr, K. (2002). Recent progress in local and global traversability for planetary rovers. Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065). https://doi.org/10.1109/robot.2000.844761
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