Improved Traversal for Planetary Rovers through Forward Acquisition of Terrain Trafficability
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.