Design and Verification of Multi-Functional Obstacle Avoidance Sensor for the Tianwen-1 Mars Probe

Zhu, Feihu; Zhang, Yunfang; Zheng, Yufeng; Guo, Shaogang; Bai, Hua; Liu, Yang; Wu, Fenzhi; Lin, Li; Chen, Jianfeng; Chen, Dong; Zhang, Chenglong; Hu, Yanxu; Cao, Zhe; Hong, Su Young; Wang, Xiao Li; Wang, Li

doi:10.1007/s11214-023-00986-8

Cited by 2 publications

(2 citation statements)

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“…As a result, many countries have planned or executed exploration missions to the lunar south pole. India's lunar exploration mission, Chandrayaan-3, successfully achieved a soft landing near the lunar south pole on 23 August 2023, at a latitude of 69.37 • S, approximately 600 km from the south pole [29,30]. This location is in a high-latitude region but not within the PSRs of the lunar polar region.…”

Section: Related Work 21 Advancement Of In Situ Explorationmentioning

confidence: 99%

“…These rocks may adversely affect the travel of Mars rovers and have potential risks. In order to better fulfill the scientific objectives and obstacle avoidance requirements of the Mars rover [21][22][23], in the actual exploration activities, we can realize the instance segmentation of the rocks in the field of view based on the image data captured by the stereo camera and calculate the depth of each rock, which refers to the distance from the rock to the stereo camera, aid operators in their decision-making and support on-site autonomous decision-making.…”

Section: Introductionmentioning

confidence: 99%

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Enhanced Interactive Rendering for Rovers of Lunar Polar Region and Martian Surface

Bi,

Jin,

Chen

et al. 2024

Remote Sensing

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Appropriate environmental sensing methods and visualization representations are crucial foundations for the in situ exploration of planets. In this paper, we developed specialized visualization methods to facilitate the rover’s interaction and decision-making processes, as well as to address the path-planning and obstacle-avoidance requirements for lunar polar region exploration and Mars exploration. To achieve this goal, we utilize simulated lunar polar regions and Martian environments. Among them, the lunar rover operating in the permanently shadowed region (PSR) of the simulated crater primarily utilizes light detection and ranging (LiDAR) for environmental sensing; then, we reconstruct a mesh using the Poisson surface reconstruction method. After that, the lunar rover’s traveling environment is represented as a red-green-blue (RGB) image, a slope coloration image, and a theoretical water content coloration image, based on different interaction needs and scientific objectives. For the rocky environment where the Mars rover is traveling, this paper enhances the display of the rocks on the Martian surface. It does so by utilizing depth information of the rock instances to highlight their significance for the rover’s path-planning and obstacle-avoidance decisions. Such an environmental sensing and enhanced visualization approach facilitates rover path-planning and remote–interactive operations, thereby enabling further exploration activities in the lunar PSR and Mars, in addition to facilitating the study and communication of specific planetary science objectives, and the production and display of basemaps and thematic maps.

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Section: Related Work 21 Advancement Of In Situ Explorationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%