Selection and monitoring of navigation modes for an autonomous rover
Peynot, Thierry & Lacroix, Simon (2006) Selection and monitoring of navigation modes for an autonomous rover. In 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation, 28-30 November 2006, Noordwijk, The Netherlands.
Considering the wide spectrum of situations that it may encounter, a robot navigating autonomously in outdoor environments needs to be endowed with several operating modes, for robustness and efficiency reasons. Indeed, the terrain it has to traverse may be composed of flat or rough areas, low cohesive soils such as sand dunes, concrete road etc. . .Traversing these various kinds of environment calls for different navigation and/or locomotion functionalities, especially if the robot is endowed with different locomotion abilities, such as the robots WorkPartner, Hylos , Nomad or the Marsokhod rovers.
Numerous rover navigation techniques have been proposed, each of them being suited to a particular environment context (e.g. path following, obstacle avoidance in more or less cluttered environments, rough terrain traverses...). However, seldom contributions in the literature tackle the problem of selecting autonomously the most suited mode . Most of the existing work is indeed devoted to the passive analysis of a single navigation mode, as in . Fault detection is of course essential: one can imagine that a proper monitoring of the Mars Exploration Rover Opportunity could have avoided the rover to be stuck during several weeks in a dune, by detecting non-nominal behavior of some parameters.
But the ability to recover the anticipated problem by switching to a better suited navigation mode would bring higher autonomy abilities, and therefore a better overall efficiency. We propose here a probabilistic framework to achieve this, which fuses environment related and robot related information in order to actively control the rover operations.
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|Item Type:||Conference Paper|
|Additional Information:||Published in Springer Tracts in Advanced Robotics : Experimental Robotics, VOL 39, pp.121-130|
|Keywords:||Mobile robots, Planetary rovers|
|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
|Deposited On:||06 Mar 2014 01:58|
|Last Modified:||07 Mar 2014 11:52|
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