Long Range Navigation for Mars Rovers Using Sensor-Based Path Planning and Visual Localisation

摘要

The Mars Pathfinder mission illustrated the benefits of including a mobile robotic explorer on a planetary mission. However, for future Mars rover missions, significantly increased autonomy in navigation is required in order to meet demanding mission criteria. To address these requirements, we have developed new path planning and localisation capabilities that allow a rover to navigate robustly to a distant landmark. These algorithms have been implemented on the JPL Rocky 7 prototype microrover and have been tested extensively in the JPL MarsYard, as well as in natural terrain. 1. INTRODUCTION Mars sample return missions currently being planned call for rovers capable of operation for up to a year. The rovers are required to traverse up to 100m/sol and to reach ground-specified targets accurately. Lessons learned from Mars Pathfinder indicate a need for significantly increased rover autonomy in order to meet mission criteria within severe constraints including limited communication o...