Automated rover positioning and instrument placement

Author

Backes, Paul ; Diaz-Calderon, Antonio ; Robinson, Matthew ; Bajracharya, Max ; Helmick, Daniel

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

fYear

2005

fDate

5-12 March 2005

Firstpage

60

Lastpage

71

Abstract

Technologies to enable automated placement of a rover arm mounted instrument with the rover starting about three meters from the specified instrument target on a terrain feature have been developed and demonstrated on a prototype Mars rover. The technologies are automated rover base placement, collision-free arm path planning, and vision guided manipulation. These technologies were integrated with rover visual tracking to provide a complete capability for automated rover approach and instrument placement.

Keywords

Mars; aerospace instrumentation; aerospace robotics; astronomical instruments; manipulators; mobile robots; path planning; planetary rovers; position control; Mars rover; automated rover base placement; automated rover positioning; collision-free arm path planning; instrument placement; rover arm mounted instrument; rover visual tracking; vision guided manipulation; Humans; Image sampling; Instruments; Manipulators; Mars; Navigation; Path planning; Propulsion; Prototypes; Target tracking;

fLanguage

English

Publisher

ieee

Conference_Titel

Aerospace Conference, 2005 IEEE

Conference_Location

Big Sky, MT

Print_ISBN

0-7803-8870-4

Type

conf

DOI

10.1109/AERO.2005.1559299

Filename

1559299