A Mars rover sample return mission has been proposed for the late 1990's. Due to the long speed-of-light delays between Earth and Mars, some autonomy on the rover is highly desirable. JPL has been conducting research in two possible modes of rover operation, Computer-Aided Remote Driving and Semiautonomous Navigation. A recently-completed research program used a half-scale testbed vehicle to explore several of the concepts in semiautonomous navigation. A new, full-scale vehicle with all computational and power resources on-board will be used in the coming year to demonstrate relatively fast semiautonomous navigation. The computational and power requirements for Mars rover local navigation and hazard avoidance are discussed.
B. H. Wilcox,
D. B. Gennery,
A. H. Mishkin,
"Mars Rover Local Navigation And Hazard Avoidance", Proc. SPIE 1007, Mobile Robots III, (10 March 1989); doi: 10.1117/12.949085; https://doi.org/10.1117/12.949085