Terrain Adaptive Navigation for planetary rovers
Terrain Adaptive Navigation for planetary rovers
复制标题
行星漫游车的地形自适应导航
DOI：
10.1002/rob.v26:4
复制
发表时间：
2009
影响因子：
8.3
通讯作者：
Larry H. Matthies
中科院分区：
文献类型：
--
作者：
D. Helmick;A. Angelova;Larry H. Matthies
本文描述了一种名为地形自适应导航（TANav）的行星漫游车导航系统的设计、实现和实验结果。这一系统的设计目的是使人们能够更方便地进入滑动情况差异很大的地形，并在这些地形中开展更有力的行动。该系统通过使用机载立体摄像机来远程分类周围地形，预测该地形的滑动，并在规划通往目标的路径时使用此信息来实现这一目标。该导航系统包括几个综合技术：良好的地图生成，地形检伤，地形分类，远程滑动预测，路径规划，高保真可通过性分析，和滑动补偿路径跟踪。TANav系统在火星模拟环境中的端到端机载实施的实验结果显示，并与不考虑地形特性的更传统的导航系统的实验结果进行比较。© 2009 Wiley Periodicals，Inc.
This paper describes the design, implementation, and experimental results of a navigation system for planetary rovers called Terrain Adaptive Navigation (TANav). This system was designed to enable greater access to and more robust operations within terrains of widely varying slippage. The system achieves this goal by using onboard stereo cameras to remotely classify surrounding terrain, predict the slippage of that terrain, and use this information in the planning of a path to the goal. This navigation system consists of several integrated techniques: goodness map generation, terrain triage, terrain classification, remote slip prediction, path planning, High-Fidelity Traversability Analysis, and slip-compensated path following. Results from experiments with an end-to-end onboard implementation of the TANav system in a Mars analog environment are shown and compared to results from experiments with a more traditional navigation system that does not account for terrain properties. © 2009 Wiley Periodicals, Inc.
影响因子：
64.8
作者：
Sohn, Robert A.;Willis, Claire;Soule, Adam
通讯作者：
Soule, Adam