A planetary rover will be traversing largely unknown and often unknowable terrain. In addition to geometric obstacles such as cliffs, rocks, and holes, it may also have to deal with non-geometric hazards such as soft soil and surface breakthroughs which often cannot be detected until rover is in imminent danger. Therefore, the rover must monitor its progress throughout a traverse, making sure to stay on course and to detect and act on any previously unseen hazards. Its onboard planning system must decide what sensors to monitor, what landmarks to take position readings from, and what actions to take if something should go wrong. The planning systems being developed for the Pathfinder Planetary Rover to perform these execution monitoring tasks are discussed. This system includes a network of planners to perform path planning, expectation generation, path analysis, sensor and reaction selection, and resource allocation.


    Access

    Access via TIB

    Check availability in my library


    Export, share and cite



    Title :

    Planning for Execution Monitoring on a Planetary Rover


    Contributors:
    E. Gat (author) / R. J. Firby (author) / D. P. Miller (author)

    Publication date :

    1990


    Size :

    5 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




    Planning for execution monitoring on a planetary rover

    Gat, Erann / Firby, R. James / Miller, David P. | NTRS | 1990


    Path planning and execution monitoring for a planetary rover

    Gat, E. / Slack, M.G. / Miller, D.P. et al. | Tema Archive | 1990


    Path planning and execution monitoring for a planetary rover

    Gat, Erann / Slack, Marc G. / Miller, David P. et al. | NTRS | 1990


    Planetary rover

    LIU FEI / HE CHUNQIAO / LIANG PENG et al. | European Patent Office | 2015

    Free access