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 conferenceConference Paper

60 Scopus citations


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 languageAmerican English
Number of pages6
StatePublished - 1 Jan 1995
Externally publishedYes
EventIEEE International Conference on Intelligent Robots and Systems -
Duration: 1 Dec 1998 → …


ConferenceIEEE International Conference on Intelligent Robots and Systems
Period1/12/98 → …


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