Experience with Rover navigation for lunar-like terrains

Reid Simmons; Eric Krotkov; Lonnie Chrisman; Fabio Cozman; Richard Goodwin; Martial Hebert; Lalitesh Katragadda; Sven Koenig; Gita Krishnaswamy; Yoshikazu Shinoda; William Whittaker; Paul Klarer

Experience with Rover navigation for lunar-like terrains

Reid Simmons, Eric Krotkov, Lonnie Chrisman, Fabio Cozman, Richard Goodwin, Martial Hebert, Lalitesh Katragadda, Sven Koenig, Gita Krishnaswamy, Yoshikazu Shinoda, William Whittaker, Paul Klarer

Research output: Contribution to conference › Conference Paper

58 Scopus citations

Abstract

Reliable navigation is critical for a lunar rover, both for autonomous traverses and safeguarded, remote teleoperation. This paper describes an implemented system that has autonomously driven a prototype wheeled lunar rover over a kilometer in natural, outdoor terrain. The navigation system uses stereo terrain maps to perform local obstacle avoidance, and arbitrates steering recommendations from both the user and the rover. The paper describes the system architecture, each of the major components, and the experimental results to date.

Original language	American English
Pages	441-446
Number of pages	6
State	Published - 1 Jan 1995
Externally published	Yes
Event	IEEE International Conference on Intelligent Robots and Systems - Duration: 1 Dec 1998 → …

Conference

Conference	IEEE International Conference on Intelligent Robots and Systems
Period	1/12/98 → …

Cite this

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title = "Experience with Rover navigation for lunar-like terrains",

abstract = "Reliable navigation is critical for a lunar rover, both for autonomous traverses and safeguarded, remote teleoperation. This paper describes an implemented system that has autonomously driven a prototype wheeled lunar rover over a kilometer in natural, outdoor terrain. The navigation system uses stereo terrain maps to perform local obstacle avoidance, and arbitrates steering recommendations from both the user and the rover. The paper describes the system architecture, each of the major components, and the experimental results to date.",

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Experience with Rover navigation for lunar-like terrains. / Simmons, Reid; Krotkov, Eric; Chrisman, Lonnie; Cozman, Fabio; Goodwin, Richard; Hebert, Martial; Katragadda, Lalitesh; Koenig, Sven; Krishnaswamy, Gita; Shinoda, Yoshikazu; Whittaker, William; Klarer, Paul.

1995. 441-446 Paper presented at IEEE International Conference on Intelligent Robots and Systems.

Research output: Contribution to conference › Conference Paper

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AU - Simmons, Reid

AU - Krotkov, Eric

AU - Chrisman, Lonnie

AU - Cozman, Fabio

AU - Goodwin, Richard

AU - Hebert, Martial

AU - Katragadda, Lalitesh

AU - Koenig, Sven

AU - Krishnaswamy, Gita

AU - Shinoda, Yoshikazu

AU - Whittaker, William

AU - Klarer, Paul

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AB - Reliable navigation is critical for a lunar rover, both for autonomous traverses and safeguarded, remote teleoperation. This paper describes an implemented system that has autonomously driven a prototype wheeled lunar rover over a kilometer in natural, outdoor terrain. The navigation system uses stereo terrain maps to perform local obstacle avoidance, and arbitrates steering recommendations from both the user and the rover. The paper describes the system architecture, each of the major components, and the experimental results to date.

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Experience with Rover navigation for lunar-like terrains

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Conference

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