Evolving directions in NASA's planetary rover requirements and technology

Weisbin, C.R.; Montemerlo, Melvin D.; Whittaker, William

doi:10.1016/0921-8890(93)90003-u

Cited by 12 publications

(3 citation statements)

References 4 publications

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“…The problem of long range navigation in unknown outdoors environments is not very frequently addressed. Important achievements are Robbie (Weisbin et al, 1992), Ambler (Krotkov et al, 1994) and the navigation of the UGV (Hebert, 1994).…”

Section: Autonomous Navigationmentioning

confidence: 99%

Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation

et al. 1995

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Sending mobile robots to accomplish planet exploration missions is scientifically promising and technologically challenging. We present in this paper a complete approach that encompasses the major aspects involved in the design of a robotic system for planetary exploration. It includes mission teleprogramming and supervision at a ground station, and autonomous mission execution by the remote mobile robot. We have partially implemented and validated these concepts. Experimental results illustrate the approach and the results.

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Section: Autonomous Navigationmentioning

confidence: 99%

Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation

et al. 1995

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“…Moreover, the robot must be able to know, at con 6 itions (e.g. Ro b by on a dry river bed [12] [13]), *Funded by Frametome S.A., Lyon, France, for most of his work any moment, its position in the model. Dead reckoning provides an estimate of the robot motions.…”

Section: Introductionmentioning

confidence: 99%

3-D autonomous navigation in a natural environment

Nashashibi

Fillatreau

Dacre-Wright

et al.

Proceedings of the 1994 IEEE International Conference on Robotics and Automation

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This paper presents a 3D navigation subsystem providing specific treatments needed for the perception and the navigation of an all-terrain mobile robot. This subsystem was developed and integrated in the global framework of the EDEN experimentation. After a brief description of this outdoor navigation experimentation, we describe the natural environment representations we use; two important perception functions based on 3D data are involved here : fast construction of elevation maps and robot localization. We then describe the 3D motion planner dedicated to the navigation on rugged terrains. The current state of integration of the experiment is finally presented b y the mean of experimental results obtained from the natural environment of the mobile robot ADAM.'ADAM: Advanced Demonstrator for Autonomy and Mobility is property of FRAMATOME and MATRA MARCONI Space, currently lent to LAAS 2Advanced Mobile Robots european project EUREKA-EU 18 433 1050-4729194 $03.00 0 1994 IEEE

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“…Several systems for outdoor navigation have already been developped and demonstrated for speci c tasks, e.g., road following 15], or motion in rather limited environment conditions 16,17]. The UGV 7], as well as Ratler 8] achieve autonomous runs avoiding obstacles, but not coping to our knowledge with irregular terrain.…”

Section: Introductionmentioning

confidence: 99%

Motion planning on rough terrain for an articulated vehicle in presence of uncertainties

Haït

Siméon²

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96

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This paper addresses motion planning for a mobile robot moving on a rough terrain. We proposed in 14] a geometrical planner for a particular architecture of robot. The approach was based on a discrete search technique operating in the (x; y; ) con guration space of the robot, and on the evaluation of elementary feasible paths between two con gurations. The overall e ciency of the approach was made possible by the use of fast algorithms for solving the placement problem and checking the validity of such placements. The contribution of this paper is twofold. First, we study the extension of this approach to an articulated vehicle composed of three axles connected to the chassis by joints allowing the roll and pitch movements. We also propose new algorithms to improve the robustness of the planner by considering additionnal constraints: uncertainties in the terrain model and existence of a free channel around the computed trajectory. Some simulation results presented at the end of the paper show the e ectiveness of the planner which turns out to be both fast and capable of solving di cult problems.

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Evolving directions in NASA's planetary rover requirements and technology

Cited by 12 publications

References 4 publications

Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation

Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation

3-D autonomous navigation in a natural environment

Motion planning on rough terrain for an articulated vehicle in presence of uncertainties

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