Title :
Hierarchical Navigation Architecture and Robotic Arm Controller for a Sample Return Rover
Author :
Dimitrov, Vassil ; DeDonato, Mathew ; Panzica, Adam ; Zutshi, Samir ; Wills, Mitchell ; Padir, Taskin
Author_Institution :
Robot. Eng. Program, Worcester Polytech. Inst., Worcester, MA, USA
Abstract :
This work presents a hierarchical navigation architecture and cascade classifier for sample search and identification on a space exploration rover. A three tier navigation architecture and inverse Jacobian based robot arm controller are presented. The algorithms are implemented on AERO, the Autonomous Exploration Rover, participating in the NASA Sample Return Robot Centennial Challenge in 2013 and initial results are demonstrated.
Keywords :
aerospace robotics; aircraft navigation; manipulators; mobile robots; planetary rovers; AERO; NASA sample return robot centennial challenge; autonomous exploration rover; cascade classifier; inverse Jacobian based robot arm controller; robotic arm controller; sample return rover; space exploration rover; tier navigation architecture; Manipulators; Navigation; Planning; Robot kinematics; Robot sensing systems; driving with tentacles; histogram of gradients; inverse jacobian; sample return rover;
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on
Conference_Location :
Manchester
DOI :
10.1109/SMC.2013.761
