The primary data used in ground-based, global path planning for NASA's planetary rovers are stereo images down-linked from the rover and range data derived from those images. The range data are often incomplete: the sensors are inherently noisy and sections of the landscape are blocked. This missing data complicates the path planning process and necessitates the help of human experts. We present the rover obstacle visualizer and navigability evaluator (ROVANE), which assists these human experts and allows non-experts to plan missions without expert help. ROVANE generates a hazard map identifying slow, impassible, or dangerous regions with varying degrees of certainty. This map is used to create possible paths, which are assigned variable costs based on possible hazards. A hazard visualization is also produced. As target locations are entered by the user, and system finds appropriate paths using a variation of the Ax algorithm. The system is capable of stand-alone operation, but is designed to be integrated into the Jet Propulsion Laboratory's Web interface for telescience.
Rover obstacle visualizer and navigability evaluator
2001
11 Seiten, 8 Quellen
Aufsatz (Konferenz)
Englisch
Rover obstacle visualizer and navigability evaluator
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