Mars exploration rover surface operations: driving opportunity at Meridiani Planum

Biesiadecki, Jeffrey J.; Baumgartner, Eric T.; Bonitz, R.G.; Cooper, Brian; Hartman, Frank R.; Leger, Patrick C.; Maimone, Mark; Maxwell, Scott; Trebi-Ollennu, A.; Tunstel, Edward; Wright, John R.

doi:10.1109/mra.2006.1638017

Cited by 36 publications

(9 citation statements)

References 7 publications

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“…For example, the amount of solar energy available to the Mars Exploration Rovers (MER) restricts the number of operations they can perform on a given day (Leger et al, 2005;Biesiadecki et al, 2005). Their lack of autonomy is also very costly considering the twenty-minute communication delay between Mars and Earth (Norris et al, 2005).…”

Section: Motivationmentioning

confidence: 99%

Long‐range rover localization by matching LIDAR scans to orbital elevation maps

Carle¹,

Furgale²,

Barfoot³

2010

Journal of Field Robotics

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Output uncertainties were large due to large input uncertainties, but these could be reduced in future experimentation by minimizing the use of simulated input data. It was concluded that the architecture could be used to accurately and autonomously localize a rover over long-range traverses.ii Acknowledgements I owe greatest thanks to my supervisor Tim Barfoot for his generous guidance and razor-sharp honesty. Thanks to Joseph Bakambu for helpful discussions on feature matching techniques.

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Section: Motivationmentioning

confidence: 99%

Long‐range rover localization by matching LIDAR scans to orbital elevation maps

Carle¹,

Furgale²,

Barfoot³

2010

Journal of Field Robotics

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“…Rover slippage has been recognized to be a significant limiting factor for the MER rovers while driving on steep slopes [4], [12]. Knowing the amount of slip beforehand and being able to detect areas of large slip will prevent the rover from getting stuck in dangerous terrain and will enable more intelligent path planning.…”

Section: Terrain Classification/slip Predictionmentioning

confidence: 99%

Terrain Adaptive Navigation for Mars Rovers

Helmick

Angelova

Livianu

et al. 2007

2007 IEEE Aerospace Conference

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Abstract-A navigation system for Mars rovers in very rough terrain has been designed, implemented, and tested on a research rover in Mars analog terrain. This navigation system consists of several technologies that are integrated to increase the capabilities compared to current rover navigation algorithms. These technologies include: goodness maps and terrain triage, terrain classification, remote slip prediction, path planning, high-fidelity traversability analysis (HFTA), and slip-compensated path following. The focus of this paper is not on the component technologies, but rather on the integration of these components. Results from the onboard integration of several of the key technologies described here are shown. Additionally, the results from independent demonstrations of several of these technologies are shown. Future work will include the demonstration of the entire integrated system described here.

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“…The concept of high velocity for ground vehicles depends on the vehicle itself and the environment traveled over. As an example, recent planetary rovers have an average velocity of about 1 km per day [1], which may be insufficient for large scale exploration.…”

Section: Introductionmentioning

confidence: 99%

Doppler-Based Ground Speed Sensor Fusion and Slip Control for a Wheeled Rover

Lhomme-Desages

Grand

Guinot

et al. 2009

IEEE/ASME Trans. Mechatron.

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Abstract-High speed unmanned ground vehicles evolving on natural terrains can exhibit a significant slip and skid. An estimation of both friction and traction forces can allow to achieve a better control. In order to implement a control architecture based on the vehicle dynamic model and the wheel-soil interaction model, the knowledge of the wheels slip rate is required. The wheel angular velocities can be precisely measured. But the true measurement of the ground speed of the vehicle is much more challenging. A low-cost Doppler radar is used, in conjunction with an accelerometer, to obtain the ground speed. Thus, the knowledge of the slip rate allows us to set up an in-situ procedure for the estimation of soil parameters that is based on the measurement of the motors torques. A wheel slippage controler has also been implemented, which is a first step toward high-level dynamic control.

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Mars exploration rover surface operations: driving opportunity at Meridiani Planum

Cited by 36 publications

References 7 publications

Long‐range rover localization by matching LIDAR scans to orbital elevation maps

Long‐range rover localization by matching LIDAR scans to orbital elevation maps

Terrain Adaptive Navigation for Mars Rovers

Doppler-Based Ground Speed Sensor Fusion and Slip Control for a Wheeled Rover

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