Planning and control in a semi-autonomous planetary micro-rover

Eric J. Malafeew

doi:10.1117/12.178927

5 July 1994 Planning and control in a semi-autonomous planetary microrover

Eric J. Malafeew

Proceedings Volume 2221, Acquisition, Tracking, and Pointing VIII; (1994) https://doi.org/10.1117/12.178927
Event: SPIE's International Symposium on Optical Engineering and Photonics in Aerospace Sensing, 1994, Orlando, FL, United States

Abstract

The paper describes a semi-autonomous control system on board a small mobile robot intended to explore planetary environments with minimal human supervision. The algorithm performs dead reckoning, hazard mapping, trajectory planning, motion control, health monitoring, and supervisor telemetry. A remote operator station provides a graphical interface for real time telemetry, guidance, and performance tuning. Design emphasis was placed on processing efficiency and robust performance for implementation with inexpensive sensors and microcontrollers. Of novel contribution are a high-level behavioral task architecture and a reactive trajectory planning routine that explicitly incorporates steering and safety constraints. Simulation and field test results under various operating conditions are presented.

Citation Download Citation

Eric J. Malafeew "Planning and control in a semi-autonomous planetary microrover", Proc. SPIE 2221, Acquisition, Tracking, and Pointing VIII, (5 July 1994); https://doi.org/10.1117/12.178927

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