We have developed the ROVANE (rover obstacle visualizer and navigability expert) which is a combined obstacle detection and path planning software suite, to assist in distributed mission planning. ROVANE uses terrain data, in the form of panoramic stereo images captured by the rover, to detect obstacles in the rover's vicinity. These obstacles are combined into a traversability map which is used to provide path planning assistance for mission scientists. A corresponding visual representation is also generated, allowing human operators to easily identify hazardous regions and to understand ROVANE's path selection. Since the terrain data often contains uncertain regions, the ROVANE obstacle detector generates a probability distribution describing the likely cost of a given obstacle or region. ROVANE allows the user to plan for best-, worst-, and intermediate-case scenarios. It is capable of stand-alone operation, but it is designed to work with JPL Web Interface for Telescience, an Internet-based tool for collaborative command sequence generation.
Automated obstacle mapping and navigability analysis for rover mission planning
2001
10 Seiten, 10 Quellen
Conference paper
English
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