Analysis of terrain geometry representations for traversability of a Mars rover
Ho, Ken, Peynot, Thierry, & Sukkarieh, Salah (2011) Analysis of terrain geometry representations for traversability of a Mars rover. In Proceedings of the 11th Australian Space Science Conference, National Space Society of Australia Ltd, Canberra, Australia, pp. 359-372.
For a planetary rover to successfully traverse across unstructured terrain autonomously, one of the major challenges is to assess its local traversability such that it can plan a trajectory to achieve its mission goals efficiently while minimising risk to the vehicle itself. This paper aims to provide a comparative study on different approaches for representing the geometry of Martian terrain for the purpose of evaluating terrain traversability. An accurate representation of the geometric properties of the terrain is essential as it can directly affect the determination of traversability for a ground vehicle. We explore current state-of-the-art techniques for terrain estimation, in particular Gaussian Processes (GP) in various forms, and discuss the suitability of each technique in the context of an unstructured Martian terrain. Furthermore, we present the limitations of regression techniques in terms of spatial correlation and continuity assumptions, and the impact on traversability analysis of a planetary rover across unstructured terrain. The analysis was performed on datasets of the Mars Yard at the Powerhouse Museum in Sydney, obtained using the onboard RGB-D camera.
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|Item Type:||Conference Paper|
|Keywords:||planetary rovers, Terrain traversability analysis, Mars rover, Gaussian processes|
|Subjects:||Australian and New Zealand Standard Research Classification > INFORMATION AND COMPUTING SCIENCES (080000) > ARTIFICIAL INTELLIGENCE AND IMAGE PROCESSING (080100)|
|Divisions:||Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2012 National Space Society of Australia Ltd|
|Deposited On:||06 Mar 2014 01:33|
|Last Modified:||02 Apr 2014 17:21|
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