NDLI: Initial results from vision-based control of the Ames Marsokhod rover

Content Provider	IEEE Xplore Digital Library
Author	Wettergreen, D. Thomas, H. Bualat, M.
Copyright Year	1997
Description	Author affiliation: Ames Res. Center, NASA, Moffett Field, CA, USA (Wettergreen, D.)
Abstract	A terrestrial geologist investigates an area by systematically moving among and inspecting surface features, such as outcrops, boulders, contacts and faults. A planetary geologist must explore remotely and use a robot to approach and image surface features. To date, position-based control has been developed to accomplish this task. This method requires an accurate estimate of the feature position, and frequent update of the robot's position. In practice this is error prone, since it relies on interpolation and continuous integration of data from inertial or odometric sensors or other position determination techniques. The development of vision-based control of robot manipulators suggests an alternative approach for mobile robots. We have developed a vision-based control system that enables our Marsokhod mobile robot to drive autonomously to within sampling distance of a visually designated natural feature. This system utilizes a robust correlation technique based on matching the sign of the difference of the Gaussian of images. We will describe our system and our initial results using it during a field experiment in the Painted Desert of Arizona.
Starting Page	1377
Ending Page	1382
File Size	1163593
Page Count	6
File Format	PDF
ISBN	0780341198
DOI	10.1109/IROS.1997.656539
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-09-11
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Geology Robot sensing systems Interpolation Robot control Robot vision systems Manipulators Control systems Drives Image sampling
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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