Autonomous Instrument Placement for Mars Exploration Rovers
TBMG-3535
02/01/2009
- Content
Autonomous Instrument Placement (AutoPlace) is onboard software that enables a Mars Exploration Rover to act autonomously in using its manipulator to place scientific instruments on or near designated rock and soil targets. Prior to the development of AutoPlace, it was necessary for human operators on Earth to plan every motion of the manipulator arm in a time-consuming process that included downlinking of images from the rover, analysis of images and creation of commands, and uplinking of commands to the rover. AutoPlace incorporates image analysis and planning algorithms into the onboard rover software, eliminating the need for the downlink/uplink command cycle. Many of these algorithms are derived from the existing ground-based image analysis and planning algorithms, with modifications and augmentations for onboard use.
- Citation
- "Autonomous Instrument Placement for Mars Exploration Rovers," Mobility Engineering, February 1, 2009.