Space exploration rovers are designed to investigate the surface of celestial bodies in the Solar System, seeking habitability conditions and biosignatures. These vehicles are equipped with instrumentation and sensors that allow accomplishing in-situ operations. To increase their access capability to harsh environments, onboard systems are included to enable obstacle avoidance and slip prediction that represent fundamental functionalities for safe navigation. This work focuses on the implementation of a method that accurately reproduces the wheel-soil interaction and predicts rovers' performances in different scenarios (e.g., cloddy/drift terrain type, steep terrains). We implemented a 3D model of a rover to simulate its navigation with obstacles on the path. Our estimated trajectory is obtained through the Light Detection And Ranging (LIDAR) data processing, which enables the simultaneous localization and mapping (SLAM).


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Numerical Simulations for Planetary Rovers Safe Navigation and LIDAR Based Localization


    Beteiligte:


    Erscheinungsdatum :

    23.06.2021


    Format / Umfang :

    4445064 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Numerical simulations for planetary rovers safe navigation and LIDAR based localization

    Gargiulo A. M. / Di Stefano I. / Genova A. | BASE | 2021

    Freier Zugriff

    Terrain Adaptive Navigation for planetary rovers

    Helmick, D. / Angelova, A. / Matthies, L. | British Library Online Contents | 2009


    Safe Deep Reinforcement Learning-Based Controller (SDRLC) for Autonomous Navigation of Planetary Rovers

    Jana, Ravi Kiran / Majumder, Rudrashis / K S, Bharathwaj et al. | IEEE | 2024


    Autonomous Navigation of Rovers for Planetary Exploration

    Schilling, K. / International Federation of Automatic Control | British Library Conference Proceedings | 1999