Perception‐aware autonomous mast motion planning for planetary exploration rovers. Issue 5 (2nd December 2019)
- Record Type:
- Journal Article
- Title:
- Perception‐aware autonomous mast motion planning for planetary exploration rovers. Issue 5 (2nd December 2019)
- Main Title:
- Perception‐aware autonomous mast motion planning for planetary exploration rovers
- Authors:
- Strader, Jared
Otsu, Kyohei
Agha‐mohammadi, Ali‐akbar - Other Names:
- Szafir Daniel guestEditor.
Skonieczny Krzysztof guestEditor.
Woods Mark guestEditor. - Abstract:
- Abstract: Highly accurate real‐time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision‐based systems to avoid hazards as well as plan safe routes. However, vision‐based systems operate on the assumption that sufficient visual texture is visible in the scene. This poses a challenge for vision‐based navigation on Mars where regions lacking visual texture are prevalent. To overcome this, we make use of the ability of the rover to actively steer the visual sensor to improve fault tolerance and maximize the perception performance. This paper answers the question of where and when to look by presenting a method for predicting the sensor trajectory that maximizes the localization performance of the rover. This is accomplished by an online assessment of possible trajectories using synthetic, future camera views created from previous observations of the scene. The proposed trajectories are quantified and chosen based on the expected localization performance. In this study, we validate the proposed method in field experiments at the Jet Propulsion Laboratory (JPL) Mars Yard. Furthermore, multiple performance metrics are identified and evaluated for reducing the overall runtime of the algorithm. We show how actively steering the perception system increases the localization accuracy compared with traditional fixed‐sensor configurations.
- Is Part Of:
- Journal of field robotics. Volume 37:Issue 5(2020)
- Journal:
- Journal of field robotics
- Issue:
- Volume 37:Issue 5(2020)
- Issue Display:
- Volume 37, Issue 5 (2020)
- Year:
- 2020
- Volume:
- 37
- Issue:
- 5
- Issue Sort Value:
- 2020-0037-0005-0000
- Page Start:
- 812
- Page End:
- 829
- Publication Date:
- 2019-12-02
- Subjects:
- automation -- motion planning -- space robotics -- vision‐based navigation
Robots, Industrial -- Periodicals
Automatic control -- Periodicals
629.892 - Journal URLs:
- http://onlinelibrary.wiley.com/journal/10.1002/(ISSN)1556-4967 ↗
http://onlinelibrary.wiley.com/ ↗ - DOI:
- 10.1002/rob.21925 ↗
- Languages:
- English
- ISSNs:
- 1556-4959
- Deposit Type:
- Legaldeposit
- View Content:
- Available online (eLD content is only available in our Reading Rooms) ↗
- Physical Locations:
- British Library DSC - 4984.130000
British Library DSC - BLDSS-3PM
British Library HMNTS - ELD Digital store - Ingest File:
- 23190.xml