Global Planning on the Mars Exploration Rovers: Software Integration and Surface Testing
Global Planning on the Mars Exploration Rovers: Software Integration and Surface Testing
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DOI：
10.1002/rob.20287
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发表时间：
2009-04-01
影响因子：
8.3
通讯作者：
Stentz, Anthony
中科院分区：
文献类型：
--
作者：
Carsten, Joseph;Rankin, Arturo;Stentz, Anthony
2004 年 1 月，美国宇航局的双胞胎火星探索漫游车（MER）“勇气号”和“机遇号”开始在火星表面搜寻过去水活动的证据。为了定位并接近科学上感兴趣的目标，漫游车采用了机载导航系统。考虑到从地球向火星漫游者发送命令（以及接收返回数据）的延迟，高水平的导航自主性是可取的。目前，具有避险功能的自主导航（AutoNav）是使用名为 GESTALT（应用于局部地形的基于网格的表面可通行性估计）的本地路径规划器来执行的，该规划器结合了立体摄像机生成的地形和障碍物信息。 GESTALT 能够很好地引导漫游车绕过狭窄且孤立的危险区域；然而，当密集的、不可穿越的岩石群形成延伸的障碍物时，它很容易失败。 2005 年 5 月，喷气推进实验室启动了一项新技术任务来解决这一限制。具体来说，Field D* 全球路径规划器的一个版本被集成到 MER 飞行软件中，从而在 AutoNav 期间能够同时进行本地和全球规划。 AutoNav 的修订版本随后在 2006 年夏天上传到火星车。在本文中，我们描述了如何将全球规划集成到 MER 飞行软件中，并提供了 MER 表面系统测试台火星车和机遇号在火星上五次完全自主运行的结果。 (C) 2009 年 Wiley 期刊公司。
In January 2004, NASA!s twin Mars Exploration Rovers (MERs), Spirit and Opportunity, began searching the surface of Mars for evidence of past water activity. To locatize and approach scientifically interesting targets, the rovers employ an onboard navigation system. Given the latency in sending commands from Earth to the Martian rovers (and in receiving return data), a high level of navigational autonomy is desirable. Autonomous navigation with hazard avoidance (AutoNav) is currently performed using a local path planner called GESTALT (grid-based estimation of surface traversability applied to local terrain) that incorporates terrain and obstacle information generated from stereo cameras. GESTALT works well at guiding the rovers around narrow and isolated hazards; however, it is susceptible to failure when clusters of closely spaced, non traversable rocks form extended obstacles. In May 2005, a new technology task was initiated at the jet Propulsion Laboratory to address this limitation. Specifically, a version of the Field D* global path planner was integrated into MER flight software, enabling simultaneous local and global planning during AutoNav. A revised version of AutoNav was then uploaded to the rovers during the summer of 2006. In this paper we describe how this integration of global planning into the MER flight software was performed and provide results from both the MER surface system test bed rover and five fully autonomous runs by Opportunity on Mars. (C) 2009 Wiley Periodicals, Inc.