In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions.


    Zugriff

    Zugriff über TIB

    Verfügbarkeit in meiner Bibliothek prüfen


    Exportieren, teilen und zitieren



    Titel :

    Autonomous Navigation Results from the Mars Exploration Rover (MER) Mission


    Beteiligte:
    Maimone, Mark (Autor:in) / Johnson, Andrew (Autor:in) / Cheng, Yang (Autor:in) / Willson, Reg (Autor:in) / Matthies, Larry H. (Autor:in)

    Kongress:

    9th International Symposium on Experimental Robotics ; 2004 ; Singapore


    Erscheinungsdatum :

    2004-06-18


    Medientyp :

    Preprint


    Format :

    Keine Angabe


    Sprache :

    Englisch





    Mars Exploration Rover Mission

    Cohen, Barbara A. | NTRS | 2008


    Mars Exploration Rover Mission

    Adler, M. | NTRS | 2004


    Mars Rover Autonomous Navigation

    Maurette, M. | British Library Online Contents | 2003


    Mars rover autonomous navigation

    Maurette, M. | Tema Archiv | 2003