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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Helmick, D.M. Angelova, A. Livianu, M. Matthies, L.H. |
| Copyright Year | 2007 |
| Description | Author affiliation: Jet Propulsion Lab., Oak Grove (Helmick, D.M.; Angelova, A.; Livianu, M.; Matthies, L.H.) |
| Abstract | A navigation system for Mars rovers in very rough terrain has been designed, implemented, and tested on a research rover in Mars analog terrain. This navigation system consists of several technologies that are integrated to increase the capabilities compared to current rover navigation algorithms. These technologies include: goodness maps and terrain triage, terrain classification, remote slip prediction, path planning, high-fidelity traversability analysis (HFTA), and slip-compensated path following. The focus of this paper is not on the component technologies, but rather on the integration of these components. Results from the onboard integration of several of the key technologies described here are shown. Additionally, the results from independent demonstrations of several of these technologies are shown. Future work will include the demonstration of the entire integrated system. |
| Starting Page | 1 |
| Ending Page | 11 |
| File Size | 1503323 |
| Page Count | 11 |
| File Format | |
| ISBN | 1424405246 |
| ISSN | 1095323X |
| DOI | 10.1109/AERO.2007.352684 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2007-03-03 |
| Publisher Place | USA |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Mars Aircraft navigation System testing Path planning Propulsion Laboratories Independent component analysis Rivers Computational complexity |
| Content Type | Text |
| Resource Type | Article |
| Subject | Aerospace Engineering Space and Planetary Science |
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