DEPLOYMENT OF A 3 D AUTONOMOUS SUBTERRANEAN SUBMARINE EXPLORATION VEHICLE
DEPLOYMENT OF A 3 D AUTONOMOUS SUBTERRANEAN SUBMARINE EXPLORATION VEHICLE
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部署 3D 自主地下潜艇探测车
DOI：
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发表时间：
2007
期刊：
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通讯作者：
W. Stone
中科院分区：
文献类型：
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作者：
W. Stone
美国宇航局深潜热探测器（DEPTHX）项目正在开发一种完全自主的水下航行器，作为欧罗巴着陆器第三阶段的原型，将在木星卫星的冰盖下寻找微生物生命。DEPTHX有两个主要目标：第一，在适当的环境中开发和测试一个没有系绳的机器人探索未知3D领域的能力，绘制它所看到的地图，并使用该地图返回家园;第二，证明科学自主行为可以识别微生物生命存在的可能区域，命令自主机动平台移动到这些位置，进行局部搜索，并自主收集水环境中的微生物生命。这个概念和原型正在一个不寻常的陆地模拟物中进行测试，该模拟物呈现了木卫二上可能存在生命的许多可能的形态学状态：墨西哥Zacatón的300米深（或更深）的热液天然井，其中含有多种微生物垫，但在空间和生物学上仍然未知。在这篇演讲中，我们总结了最终的车辆架构和控制系统的方法，自主探索在全三维环境中的先验知识的环境是不存在的，也没有外部导航系统。在Cenote La Pilita的最新现场工作将介绍2007年2月5日的使命，在此期间，DEPTHX成为第一个完全自主的洞穴探索机器人。
The NASA Deep Phreatic Thermal Explorer (DEPTHX) project is developing a fully autonomous underwater vehicle intended as a prototype of the Europa lander third stage that will search for microbial life beneath the ice cap of that Jovian moon. DEPTHX has two principal objectives: First, to develop and test in an appropriate environment the ability for an un-tethered robot to explore into unknown 3D territory, to make a map of what it sees, and to use that map to return home; and second, to demonstrate that science autonomy behaviors can identify likely zones for the existence of microbial life, to command an autonomous maneuvering platform to move to those locations, conduct localized searches, and to autonomously collect microbial life in an aqueous environment. The concept and prototypes are being tested in an unusual terrestrial analog that presents many of the likely morphologic regimes where life may exist on Europa: the 300meter-deep (or more) hydrothermal cenote of Zacatón, Mexico, which contains diverse microbial mats, but remains uncharted, both spatially and biologically. In this presentation we summarize the fi nal vehicle architecture and control systems approach to autonomous exploration in fully 3D environments in which apriori knowledge of the environment is non-extant and for which there exists no external navigation system. The latest fi eld work at Cenote La Pilita will be presented describing the February 5, 2007 mission during which DEPTHX became the fi rst fully autonomous cave exploring robot.