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.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Automated obstacle mapping and navigability analysis for rover mission planning


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


    Publication date :

    2001


    Size :

    10 Seiten, 10 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Rover obstacle visualizer and navigability evaluator

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


    Rover obstacle visualizer and navigability evaluator

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


    Automated Onboard Mission Planning for Robust and Flexible Rover Operations

    Cunningham, Thomas / Spencer, David A. | IEEE | 2022


    Automated Planning for the Antarctic Mapping Mission

    Mutz, D. / Engelhardt, B. / Smith, B. | NTRS | 2000


    Adaptive Path Planning for Unmanned Planetary Rover with Dynamic Obstacle

    Wenyuan, Zhang / Jifeng, Guo / Chengchao, Bai | IEEE | 2019