Theory and experiments in autonomous sensor-based motion planning with applications for flight planetary microrovers
Theory and experiments in autonomous sensor-based motion planning with applications for flight planetary microrovers
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基于自主传感器的运动规划的理论和实验及其在飞行行星微型漫游器中的应用
DOI：
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发表时间：
1999
期刊：
影响因子：
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通讯作者：
S. Laubach
中科院分区：
文献类型：
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作者：
J. Burdick;S. Laubach
随着火星探路者漫游车的成功，对高性能移动机器人的需求开启了行星探索的新纪元。这些机器人必须能够在严格的资源限制下，自主地穿越崎岖、未知的地形，跨越很长的距离。以前在移动机器人路径规划方面的许多工作都是基于一些假设，而这些假设并不真正适用于在行星地形中的导航。基于作者对火星探路者任务的第一手经验，这项工作回顾了对行星漫游车成功自主导航至关重要的问题。目前还没有一种方法可以解决所有这些限制。接下来，我们将开发基于传感器的“韦奇虫”运动规划算法。该算法是完整、正确的，只需要最少的内存来存储其世界模型，并且只使用车载传感器，在算法的指导下，这些传感器有效地仅感知运动规划所需的数据，同时避免不必要的机器人运动。该规划器还具有产生局部最优路径的额外优势，适用于视场在下射程和角度范围内受限的机器人，用于包括行星导航在内的各种应用。这项工作包括对韦氏算法的完备性和正确性的证明，尤其是对证明韦氏算法(以及启发了该方法的TangentBug算法)所需的关键结果的校正、详细证明。此外，我们将这一结果扩展到更广泛的环境类别。描述了在喷气推进实验室(JPL)的Rocky7火星漫游者原型上实现的一种名为“RoverBug”的韦奇虫版本，并给出了在模拟火星地形中运行的实验结果。
With the success of Mars Pathfinder's Sojourner rover, a new era of planetary exploration has opened, with demand for highly capable mobile robots. These robots must be able to traverse long distances over rough, unknown terrain autonomously, under severe resource constraints. Much prior work in mobile robot path planning has been based on assumptions that are not truly applicable to navigation through planetary terrains. Based on the author's firsthand experience with the Mars Pathfinder mission, this work reviews issues which are critical for successful autonomous navigation of planetary rovers. No current methodology addresses all of these constraints. We next develop the sensor-based “Wedgebug” motion-planning algorithm. This algorithm is complete, correct, requires minimal memory for storage of its world model, and uses only on-board sensors, which are guided by the algorithm to efficiently sense only the data needed for motion planning, while avoiding unnecessary robot motion. The planner has the additional advantage of producing locally-optimal paths, and is suitable for robots with a field-of-view limited in both downrange and angular scope, for a variety of applications including planetary navigation. This work includes the proof of completeness and correctness of the Wedgebug algorithm, and in particular provides a corrected, detailed proof of a key result required for the proof of completeness of the Wedgebug algorithm (and for the TangentBug algorithm which inspired this approach). In addition, we extend this result to a broader class of environments. The implementation of a version of Wedgebug, called “RoverBug,” on the Rocky7 Mars Rover prototype at the Jet Propulsion Laboratory (JPL) is described, and experimental results from operation in simulated martian terrain are presented.