Improved Path Planning Onboard the Mars Exploration Rovers

TBMG-2349

09/01/2007

Abstract
Content

A revised version of the AutoNav (autonomous navigation with hazard avoidance) software running onboard each Mars Exploration Rover (MER) affords better obstacle avoidance than does the previous version. Both versions include GESTALT (Grid-based Estimation of Surface Traversability Applied to Local Terrain), a navigation program that generates local-terrain models from stereoscopic image pairs captured by onboard rover cameras; uses this information to evaluate candidate arcs that extend across the terrain from the current rover location; ranks the arcs with respect to hazard avoidance, minimization of steering time, and the direction towards the goal; and combines the rankings in a weighted vote to select an arc, along which the rover is then driven.

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Citation
"Improved Path Planning Onboard the Mars Exploration Rovers," Mobility Engineering, September 1, 2007.
Additional Details
Publisher
Published
Sep 1, 2007
Product Code
TBMG-2349
Content Type
Magazine Article
Language
English