The Mars Exploration Rover Surface Mobility Flight Software: Driving Ambition

Biesiadecki, Jeffrey J.; Maimone, Mark

doi:10.1109/aero.2006.1655723

Cited by 88 publications

(74 citation statements)

References 16 publications

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“…3 They detect hazards by fitting rover-sized patches of 3D stereo data to a plane and then looking for deviations from the plane and its slope. The vehicles use the hazards to populate a surrounding map of terrain traversability; from this map, they select the best motion command to execute, as Figure 3 shows.…”

Section: Terrain Navigationmentioning

confidence: 99%

Autonomy for Mars Rovers: Past, Present, and Future

2008

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Section: Terrain Navigationmentioning

confidence: 99%

Autonomy for Mars Rovers: Past, Present, and Future

2008

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“…At present, most of the planetary exploration rover use rocker structure to adapt the complex terrain environment, most of their traction drive using the method of open loop kinematics [1][2][3]. The structure of four-wheel rover is relatively simple, but it needs to consider the impact of unstructured terrain on the rocker and other passive deformation mechanism.…”

Section: Introductionmentioning

confidence: 99%

Four-wheel Rover’s Motion Control and Modeling Method

Gao¹,

Xu²

2017

dtetr

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The control and modeling problem of four-wheel rover is studied under lunar soft soil and low gravity. The Newton -Euler dynamic model of the four-wheel rover is established by constructing the D-H coordinate system of the rover and gets the value of the wheel angular velocity, and the steering angle is determined by the method of non-holonomic constraints. A closed-loop motion control system for linear velocity and angular velocity feedback regulation of rover is designed and realized by combining the model of wheel terrain mechanics. The experimental results show that the dynamic characteristics of the rover in the process of cruise and the designed motion control system can effectively reduce the disturbance of the external terrain environment and realize the tracking control of the rover linear velocity and angular velocity.

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“…The onboard computer uses a radiation hardened RAD6K processor running at 20 MHz, and has 128 Mbytes of DRAM [6]. To make matters worse, these already limited resources must be shared among the 97 tasks (including AutoNav) that make up the on-board flight software [9].…”

Section: Resource Limitationsmentioning

confidence: 99%

“…AutoNav is based on the GESTALT (Grid-based Estimation of Surface Traversability Applied to Local Terrain) algorithm [5], [6]. AutoNav uses stereo image pairs captured by the rover's on-board camera system to gather geometric information about the surrounding terrain.…”

Section: Overviewmentioning

confidence: 99%

Global Path Planning on Board the Mars Exploration Rovers

Carsten

Rankin

Ferguson

et al. 2007

2007 IEEE Aerospace Conference

103

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Abstract-In January 2004, NASA's twin Mars Exploration Rovers (MERs), Spirit and Opportunity, began searching the surface of Mars for evidence of past water activity. In order to localize and approach scientifically interesting targets, the rovers employ an on-board navigation system. Given the latency in sending commands from Earth to the Martian rovers (and in receiving return data), a high level of navigational autonomy is desirable. Autonomous navigation with hazard avoidance (AutoNav) is currently performed using a local path planner called GESTALT (Grid-based Estimation of Surface Traversability Applied to Local Terrain). GESTALT uses stereo cameras to evaluate terrain safety and avoid obstacles. GESTALT works well to guide the rovers around narrow and isolated hazards, however, it is susceptible to failure when clusters of closely spaced, non-traversable rocks form extended obstacles. In May 2005, a new technology task was initiated at the Jet Propulsion Laboratory to address this limitation. A version of the Carnegie Mellon University Field D* global path planner has been integrated into MER flight software, enabling simultaneous local and global planning during AutoNav. A revised version of AutoNav was uploaded to the rovers during the summer of 2006. This paper describes how global planning was integrated into the MER flight software, and presents results of testing the improved AutoNav system using the MER Surface System TestBed rover.

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The Mars Exploration Rover Surface Mobility Flight Software: Driving Ambition

Abstract: AUTONOMOUS GOAL SELECTION 10 6 DEPLOYMENT RESULTS 10

Cited by 88 publications

References 16 publications

Autonomy for Mars Rovers: Past, Present, and Future

Autonomy for Mars Rovers: Past, Present, and Future

Four-wheel Rover’s Motion Control and Modeling Method

Global Path Planning on Board the Mars Exploration Rovers

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