Improved Traversal for Planetary Rovers through Forward Acquisition of Terrain Trafficability
Yashodhan H. Nevatia, Jeremi Gancet, Francois Bulens, Thomas Vögele, Roland Sonsalla, Chakravarthini M. Saaj, William A. Lewinger, Marcus Matthews, Brian Yeomans, Yang Gao, Elie Allouis, Barbara Imhof, Stephen Ransom, Lutz Richter, Krzysztof Skocki
In Proceedings of International Conference on Robotics and Automation, (ICRA-2013), 06.5.-10.5.2013, Karlsruhe, o.A., May/2013.
Current operations of planetary rovers, especially the planning and execution of traverse operations, rely on human analysis and estimation of non-geometric hazards based on images captured by the rover. Despite the use of advanced path planning algorithms capable of avoiding obstacles, this limits daily traverse distances. This paper presents a system concept for planetary rovers capable of safe traversal beyond the immediate range of navigation through forward sensing of terrain trafficability, resulting in improved traversal speeds.