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

Resultado de la investigación: Contribución a una conferenciaArtículo de conferencia

55 Citas (Scopus)

Resumen

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.
Idioma originalInglés estadounidense
Páginas441-446
Número de páginas6
EstadoPublicada - 1 ene 1995
Publicado de forma externa
EventoIEEE International Conference on Intelligent Robots and Systems -
Duración: 1 dic 1998 → …

Conferencia

ConferenciaIEEE International Conference on Intelligent Robots and Systems
Período1/12/98 → …

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    Simmons, R., Krotkov, E., Chrisman, L., Cozman, F., Goodwin, R., Hebert, M., Katragadda, L., Koenig, S., Krishnaswamy, G., Shinoda, Y., Whittaker, W., & Klarer, P. (1995). Experience with Rover navigation for lunar-like terrains. 441-446. Papel presentado en IEEE International Conference on Intelligent Robots and Systems, .