The Mars Exploration Rover surface mobility flight software driving ambition
The Mars Exploration Rover surface mobility flight software driving ambition
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火星探索漫游者表面移动飞行软件驱动雄心
DOI：
10.1109/aero.2006.1655723
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发表时间：
2006
期刊：
影响因子：
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通讯作者：
M. Maimone
中科院分区：
文献类型：
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作者：
J. Biesiadecki;M. Maimone
NASA的火星探测漫游者(MER)机载移动性飞行软件旨在提供强大和灵活的操作。MER车辆可以直接指挥，或对机动性的多个方面进行自主控制：驾驶哪些运动、测量实际运动、地形解释，甚至选择感兴趣的目标(尽管这种模式在很大程度上仍未得到充分利用)。可以使用多层控制来控制车辆运动：电机控制、直接驾驶操作(弧形、原地转弯)和基于目标的驾驶(转到路点)。多层安全检查确保车辆性能：命令限制(命令超时、一天中的时间限制、软件启用、活动限制)、反应性检查(例如，电机电流限制、车辆倾斜限制)和预测性检查(例如，阶跃、倾斜、粗糙危险)。从2004年1月到2005年10月，勇气号积累了超过5000米的里程，机遇号积累了6000米的里程，通常一天就超过100米。在这篇文章中，我们描述了驱动这些火星车在火星表面总共超过11,000米的软件，包括它的设计和实现，并总结了目前在火星上的机动性性能结果
NASA's Mars exploration rovers' (MER) onboard mobility flight software was designed to provide robust and flexible operation. The MER vehicles can be commanded directly, or given autonomous control over multiple aspects of mobility: which motions to drive, measurement of actual motion, terrain interpretation, even the selection of targets of interest (although this mode remains largely underused). Vehicle motion can be commanded using multiple layers of control: motor control, direct drive operations (arc, turn in place), and goal-based driving (goto waypoint). Multiple layers of safety checks ensure vehicle performance: command limits (command timeout, time of day limit, software enable, activity constraints), reactive checks (e.g., motor current limit, vehicle tilt limit), and predictive checks (e.g., step, tilt, roughness hazards). From January 2004 through October 2005, Spirit accumulated over 5000 meters and Opportunity 6000 meters of odometry, often covering more than 100 meters in a single day. In this paper we describe the software that has driven these rovers more than a combined 11,000 meters over the Martian surface, including its design and implementation, and summarize current mobility performance results from Mars