Core Journal of Peking University

Excellent Sci-Tech Journal of Chinese Universities

Journal of Committee of Deep Space Exploration Technology, Chinese Society of Astronautics(CDSET-CSA)

Advanced Search

WEI Xiangquan, HUANG Jianming, GU Dongqing, CHEN Feng. Researches on the Techniques of Autonomous Navigation and Path Planning for Mars Rover[J]. Journal of Deep Space Exploration, 2016, 3(3): 275-281. doi: 10.15982/j.issn.2095-7777.2016.03.012
Citation: WEI Xiangquan, HUANG Jianming, GU Dongqing, CHEN Feng. Researches on the Techniques of Autonomous Navigation and Path Planning for Mars Rover[J]. Journal of Deep Space Exploration, 2016, 3(3): 275-281. doi: 10.15982/j.issn.2095-7777.2016.03.012

Researches on the Techniques of Autonomous Navigation and Path Planning for Mars Rover

doi: 10.15982/j.issn.2095-7777.2016.03.012
  • Received Date: 2015-11-01
  • Rev Recd Date: 2016-06-30
  • Considering the mission environment, through drawing lessons from international research experience, the sensor configuration of autonomous navigation of mars rover is given, and the autonomous navigation and path planning techniques which can be used in aerospace engineering are investigated in this paper. According to the requirement of autonomous navigation and riding for rover on mars, the involved techniques are deeply researched, such as DEM(Digital Elevation Model) construction and obstacle detection, global path planning, video odometer based on stereo vision, pose determination based on multi-sensor fusion as well as local path planning. A set of experimental system was established, and the simulation experiment was carried in laboratory. The relative research results can offer some basis for the researches of autonomous navigation system for succeeding mars rover.
  • [1]
    Li R,Di K,Howard A B,et al. Rock modeling and matching for autonomous long-range Mars rover localization[J]. Journal of Field Robotics,2007,24(3):187-203
    [2]
    Matthies L,Gat E,Harrison R,et al. Mars microrover navigation:performance evaluation and enhance-ment[J]. Autonomous Robots,1995,2(4):291-31
    [3]
    Cheng Y,Maimone M W,Matthies L H. Visual odometry on the Mars exploration rovers[J]. IEEE Robotics and Automation Special Issue(MER),2006,13(2):54-62
    [4]
    张扬眉. 性能优异的美国"火星科学实验室"[J]. 国际太空. 2011(11):17-23. Zhang Y M. American Mars Science Laboratory with excellent properties[J]. Space International,2011(11):17-23.
    [5]
    天力. 美好奇号漫游车登陆火星[J]. 中国航天,2012(9):16-18 Tian L. Curiosity Mars Rover landed on Mars[J]. Erospace China,2012(9):16-18
    [6]
    Griffiths A D,Coates A,Jaumann R. et. al. Context for the ESA ExoMars rover:the Panoramic Camera(PanCam) instrument[J]. International Journal of Astrobiology,2006,5(3):269-275.
    [7]
    宁晓琳,房建成. 一种基于纯天文观测的火星车自主导航方法[J]. 空间科学学报. 2006,26(2):142-147. Ning X L,Fang J C. A new autonomous navigation method for martian rover based on celestial observation[J]. Chin. J. Space Sci.,2006,26(2):142-147.
    [8]
    邸凯昌,岳宗玉,刘召芹. 基于地面图像和卫星图像集成的火星车定位新方法[J]. 航天器工程,2010,19(4):11-16. Di K C,Yue Z Y,Liu Z Q. A new approach to Mars rover localization based on integration of ground and orbital images[J]. Spacecraft engineering,2010,19(4):11-16.
    [9]
    娄路. 基于视觉和MEMS-IMU融合的火星车导航定向技术[J]. 航天控制,2012,30(4):32-36,48. Lou L. An approach of attitude estimation by using vision-aided IMU for Mars rover[J]. Aerospace Control,2012,30(4):32-36,48.
    [10]
    Estlin T,Gaines D. Automated decision-making for Mars rover onboard science[C]//AIAA 2007 Conference and Exhibit. Rohnert Park,California:AIAA,2007.
    [11]
    Joudrier L,Elfving A. Challenges of the ExoMars rover control[C]//AIAA Unmanned... Unlimited Conference. Seattle,Washington:AIAA,2009.
    [12]
    Helmick D M,Angelova A. Terrain adaptive navigation for Mars rovers[C]//2007 IEEE Aerospace Conference.[S.l.]:IEEE,2007.
    [13]
    Estlin T,Castano R. Automated targeting for the MER Rovers[C]//AIAA Unmanned... Unlimited Conference. Seattle,Washington:AIAA,2009.
    [14]
    Stentz A. The focussed D* algorithm for real-time replanning[C]//Proceedings of IJCAI-95.[S.l.]:IJCAI,1995.
    [15]
    DUR E. Optical flow-based obstacle detection and avoidance behaviors for mobile robots used in unmaned planetary exploration[C]//20094th International Conference on Recent Advances in Space Technologies.[S.l.]:IEEE,2009.
    [16]
    Goldberg S,Maimone M. Stereo vision and rover navigation software for planetary exploration[C]//IEEE Aerospace Conference. Big Sky,Montana:IEEE,2002.
  • 加载中
通讯作者: 陈斌, bchen63@163.com
  • 1. 

    沈阳化工大学材料科学与工程学院 沈阳 110142

  1. 本站搜索
  2. 百度学术搜索
  3. 万方数据库搜索
  4. CNKI搜索

Article Metrics

Article views(2426) PDF downloads(1739) Cited by()

Proportional views
Related

Researches on the Techniques of Autonomous Navigation and Path Planning for Mars Rover

doi: 10.15982/j.issn.2095-7777.2016.03.012

Abstract: Considering the mission environment, through drawing lessons from international research experience, the sensor configuration of autonomous navigation of mars rover is given, and the autonomous navigation and path planning techniques which can be used in aerospace engineering are investigated in this paper. According to the requirement of autonomous navigation and riding for rover on mars, the involved techniques are deeply researched, such as DEM(Digital Elevation Model) construction and obstacle detection, global path planning, video odometer based on stereo vision, pose determination based on multi-sensor fusion as well as local path planning. A set of experimental system was established, and the simulation experiment was carried in laboratory. The relative research results can offer some basis for the researches of autonomous navigation system for succeeding mars rover.

WEI Xiangquan, HUANG Jianming, GU Dongqing, CHEN Feng. Researches on the Techniques of Autonomous Navigation and Path Planning for Mars Rover[J]. Journal of Deep Space Exploration, 2016, 3(3): 275-281. doi: 10.15982/j.issn.2095-7777.2016.03.012
Citation: WEI Xiangquan, HUANG Jianming, GU Dongqing, CHEN Feng. Researches on the Techniques of Autonomous Navigation and Path Planning for Mars Rover[J]. Journal of Deep Space Exploration, 2016, 3(3): 275-281. doi: 10.15982/j.issn.2095-7777.2016.03.012
Reference (16)

Catalog

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return