Near real-time tele-operated driving on the lunar surface remains constrained by bandwidth and signal latency despite the Moons relative proximity. As part of our work within NASA s Human-Robotic Systems Project (HRS), we have developed a stand-alone modular LIDAR based safeguarded tele-operation system of hardware, middleware, navigation software and user interface. The system has been installed and tested on two distinct NASA rovers-JSCs Centaur2 lunar rover prototype and ARC s KRex research rover- and tested over several kilometers of tele-operated driving at average sustained speeds of 0.15 - 0.25 m/s around rocks, slopes and simulated lunar craters using a deliberately constrained telemetry link. The navigation system builds onboard terrain and hazard maps, returning highest priority sections to the off-board operator as permitted by bandwidth availability. It also analyzes hazard maps onboard and can stop the vehicle prior to contacting hazards. It is robust to severe pose errors and uses a novel scan alignment algorithm to compensate for attitude and elevation errors.


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    Titel :

    Tele-Operated Lunar Rover Navigation Using Lidar


    Beteiligte:
    L. Pedersen (Autor:in) / M. B. Allan (Autor:in) / H. H. Utz (Autor:in) / M. C. Deans (Autor:in) / X. Bouyssounouse (Autor:in)

    Erscheinungsdatum :

    2012


    Format / Umfang :

    8 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Tele-Operated Lunar Rover Navigation Using Lidar

    Pedersen, Liam / Allan, Mark B. / Utz, Hans, Heinrich et al. | NTRS | 2012


    Visual Aids for Lunar Rover Tele-Operation

    Miller, D. / Machulis, K. / European Space Agency | British Library Conference Proceedings | 2005


    Lunar rover navigation concepts

    Burke, J. D. / Centre National d'Etudes Spatiales | British Library Conference Proceedings | 1993


    Lunar rover navigation concepts

    Burke, James D. | NTRS | 1993