In this paper the authors present the experimental results validating the approach for autonomous planetary exploration developed by the Canadian Space Agency (CSA). The goal of this work is to autonomously navigate to remote locations, well beyond the sensing horizon of the rover, with minimal interaction with a human operator. They employ LIDAR range sensors due to their accuracy, long range and robustness in the harsh lighting conditions of space. Irregular triangular meshes (ITM) are used for representing the environment providing an accurate yet compact spatial representation. In this paper after a brief overview of the proposed approach, they discuss the terrain modelling used. A variety of experiments performed in CSA's Mars emulation terrain that validate their approach are also presented.
Experimental results for over-the-horizon planetary exploration using a LIDAR sensor
Experimentelle Ergebnisse der Überhorizont-Planetenerkundung mit Hilfe eines LIDAR-Sensors
2009
13 Seiten, 7 Bilder, 2 Tabellen, 29 Quellen
Aufsatz (Konferenz)
Englisch
Autonomous over-the-horizon navigation using LIDAR data
British Library Online Contents | 2013
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