This paper presents the results of field trials of a prototype lunar rover travelling over natural terrain under safeguarded teleoperation control. Both the rover and the safeguarding approach have been used in previous work. The original contributions of this paper are the development and integration of a laser hazard detection system, and extensive field testing of the overall system. The laser system, which complements an existing stereo vision system, is based on a line-scanning laser ranger viewing the area 1 meter in front of the rover. The laser system has demonstrated excellent performance: zero misses and few false alarms operating at 4 Hz. The overall safeguarding system guided the rover 43 km over lunar analogue terrain with 0.8 failures per kilometer.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Evolution of a prototype lunar rover: addition of laser-based hazard detection, and results from field trials in lunar analog terrain


    Contributors:
    Krotkov, E. (author) / Hebert, M. (author) / Henriksen, L. (author) / Levin, P. (author) / Maimone, M. (author) / Simmons, R. (author) / Teza, J. (author)

    Published in:

    Autonomous Robots ; 7 , 2 ; 119-130


    Publication date :

    1999


    Size :

    12 Seiten, 16 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    RATLER: Robotic All-Terrain Lunar Exploration Rover

    Purvis, J. W. / Klarer, P. R. | NTRS | 1993


    RATLER: Robotic All-Terrain Lunar Exploration Rover

    J. W. Purvis / P. R. Klarer | NTIS | 1993


    Lunar rover

    LIU QIANG / LI JIAN / LIU GANG et al. | European Patent Office | 2024

    Free access

    Prototype Design of the CableCat Lunar Rover

    Barth, Andrew L. / Bisig, Caleb / Ma, Ou et al. | AIAA | 2020


    RATLER: Robotic All-Terrain Lunar Exploration Rover

    J. W. Purvis / P. R. Klarer | NTIS | 1992