Sensory fusion for planetary surface robotic navigation, rendezvous, and manipulation operations

摘要

The upcoming missions to Mars planned by NASMJPL in 2009 and 2013 are more ambitious than any previouslyjlown. Included in these missions are extended multi-kilometer traverses, and autonomous rover rendezvous with science targets and man-made structures such as landers. This paper reports some of the ongoing work at JPL in the areas of autonomous sensory fusion of both raw and derived inputs for better localization during long traverses, precision rendezvous operations with both IabeIed (man-made) and unlabeled (natura[) targets, and precision manipulation of targets. We also present the results of some experimental studies done in laboratory and external environments.