Under the umbrella of the European Space Agency (ESA) StarTiger program, a rapid prototyping study called Seeker was initiated. A range of partners from space and nonspace sectors were brought together to develop a prototype Mars rover system capable of autonomously exploring several kilometers of highly representative Mars terrain over a three-day period. This paper reports on our approach and the final field trials that took place in the Atacama Desert, Chile. Long-range navigation and the associated remote rover field trials are a new departure for ESA, and this activity therefore represents a novel initiative in this area. The primary focus was to determine if current computer vision and artificial intelligence based software could enable such a capability on Mars, given the current limit of around 200 m per Martian day. The paper does not seek to introduce new theoretical techniques or compare various approaches, but it offers a unique perspective on their behavior in a highly representative environment. The final system autonomously navigated 5.05 km in highly representative terrain during one day. This work is part of a wider effort to achieve a step change in autonomous capability for future Mars/lunar exploration rover platforms.


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    Titel :

    Seeker—Autonomous Long-range Rover Navigation for Remote Exploration


    Beteiligte:
    Woods, Mark (Autor:in) / Shaw, Andrew (Autor:in) / Tidey, Estelle (Autor:in) / Van Pham, Bach (Autor:in) / Simon, Lacroix (Autor:in) / Mukherji, Raja (Autor:in) / Maddison, Brian (Autor:in) / Cross, Gary (Autor:in) / Kisdi, Aron (Autor:in) / Tubby, Wayne (Autor:in)

    Erschienen in:

    Journal of Field Robotics ; 31 , 6 ; 940-968


    Erscheinungsdatum :

    2014


    Format / Umfang :

    29 Seiten




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Print


    Sprache :

    Englisch





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