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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Rover obstacle visualizer and navigability evaluator


    Contributors:
    Goodsell, T.G. (author) / Snorrason, M. (author) / Ruda, H. (author) / Ablavsky, V. (author)


    Publication date :

    2001


    Size :

    11 Seiten, 8 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Rover obstacle visualizer and navigability evaluator

    Goodsell, Thomas G. / Snorrason, Magnus / Ruda, Harald et al. | SPIE | 2001


    Rover obstacle visualizer and navigability evaluator [4195-19]

    Goodsell, T. G. / Snorrason, M. / Ruda, H. et al. | British Library Conference Proceedings | 2001


    Automated obstacle mapping and navigability analysis for rover mission planning

    Goodsell, Thomas G. / Snorrason, Magnus / Ruda, Harald et al. | SPIE | 2001


    Automated obstacle mapping and navigability analysis for rover mission planning

    Goodsell, T.G. / Snorrason, M. / Ruda, H. et al. | Tema Archive | 2001


    The navigability and water-tightness trials

    Engineering Index Backfile | 1929