24,742 research outputs found
Efficient Autonomous Navigation for Planetary Rovers with Limited Resources
Rovers operating on Mars are in need of more and more autonomous features to ful ll their
challenging mission requirements. However, the inherent constraints of space systems make
the implementation of complex algorithms an expensive and difficult task. In this paper
we propose a control architecture for autonomous navigation. Efficient implementations of
autonomous features are built on top of the current ExoMars navigation method, enhancing
the safety and traversing capabilities of the rover. These features allow the rover to detect
and avoid hazards and perform long traverses by following a roughly safe path planned by
operators on ground. The control architecture implementing the proposed navigation mode
has been tested during a field test campaign on a planetary analogue terrain. The experiments
evaluated the proposed approach, autonomously completing two long traverses while
avoiding hazards. The approach only relies on the optical Localization Cameras stereobench,
a sensor that is found in all rovers launched so far, and potentially allows for computationally
inexpensive long-range autonomous navigation in terrains of medium difficulty
Adaptive neuro-fuzzy technique for autonomous ground vehicle navigation
This article proposes an adaptive neuro-fuzzy inference system (ANFIS) for solving navigation problems of an autonomous ground vehicle (AGV). The system consists of four ANFIS controllers; two of which are used for regulating both the left and right angular velocities of the AGV in order to reach the target position; and other two ANFIS controllers are used for optimal heading adjustment in order to avoid obstacles. The two velocity controllers receive three sensor inputs: front distance (FD); right distance (RD) and left distance (LD) for the low-level motion control. Two heading controllers deploy the angle difference (AD) between the heading of AGV and the angle to the target to choose the optimal direction. The simulation experiments have been carried out under two different scenarios to investigate the feasibility of the proposed ANFIS technique. The simulation results have been presented using MATLAB software package; showing that ANFIS is capable of performing the navigation and path planning task safely and efficiently in a workspace populated with static obstacles
Coupled path and motion planning for a rover-manipulator system
This paper introduces a motion planning strategy aimed
at the coordination of a rover and manipulator. The main
purpose is to fetch samples of scientific interest that could
be placed on difficult locations, requiring to maximize
the workspace of the combined system. In order to validate
this strategy, a simulation environment has been built, based on the VORTEX Studio platform. A virtual model of the ExoTer rover prototype, owned by the European Space Agency, has been used together with the same robot control software. Finally, we show in this paper the benefits of validating the proposed strategy on simulation, prior to its future use on the real experimental rover.Universidad de Málaga. Campus de Excelencia Internacional AndalucĂa Tec
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