A controller designed to guide an automated vehicle to a specified target without external intervention is described. The intended application is to the requirements of planetary exploration, where substantial autonomy is required because of the prohibitive time lags associated with closed-loop ground control. The guidance algorithm consists of a set of piecewise-linear control laws for velocity and steering commands, and is executable in real time with fixed-point arithmetic. The use of a previously-reported object tracking algorithm for the vision system to provide position feedback data is described. Test results of the control system on a breadboard rover at the Jet Propulsion Laboratory are included.


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    Titel :

    Vision-based guidance for an automated roving vehicle


    Beteiligte:
    Griffin, M. D. (Autor:in) / Cunningham, R. T. (Autor:in) / Eskenazi, R. (Autor:in)

    Kongress:

    Guidance and Control Conference ; 1978 ; Palo Alto, CA


    Erscheinungsdatum :

    1978-01-01


    Medientyp :

    Sonstige


    Format :

    Keine Angabe


    Sprache :

    Englisch




    Vision-based guidance for an automated roving vehicle

    GRIFFIN, M. / CUNNINGHAM, R. / ESKENAZI, R. | AIAA | 1978


    Guidance system for a roving vehicle

    Miller, J. A. | NTRS | 1979


    Unmanned lunar roving vehicle remote guidance study

    Filetti, K. A. / Hornbrook, G. K. | NTRS | 1971