Title :
Fuzzy reactive piloting for continuous driving of long range autonomous planetary micro-rovers
Author :
Martin-Alvarez, A. ; Volpe, R. ; Hayati, S. ; Petras, R.
Author_Institution :
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA
Abstract :
A complete piloting control subsystem for a highly autonomous long range rover will be defined in order to identify the key control functions needed to achieve continuous driving. This capability can maximize range and number of interesting scientific sites visited during the limited life time of a planetary rover. To achieve continuous driving, a complete set of techniques have been employed: fuzzy based control, real-time artificial intelligence reasoning, fast and robust rover position estimation based on odometry and angular rate sensing, efficient stereo vision elevation maps based on grids, and fast reaction and planning for obstacle detection and obstacle avoidance based on a simple IF-THEN expert system with fuzzy reasoning. To quickly design and implement these techniques, graphical programming has been used to build a fully autonomous piloting system using just the techniques of classic control concepts of cyclic data processing and event driven reaction. Experimental results using the JPL rover Rocky 7 are given in order to validate the mentioned techniques for continuous driving
Keywords :
aerospace computing; aerospace control; aerospace expert systems; artificial intelligence; feedback; fuzzy control; inference mechanisms; parameter estimation; planetary rovers; real-time systems; space research; stereo image processing; F-THEN expert system; Fuzzy reactive piloting; Rocky 7; angular rate sensing; autonomous piloting system; continuous driving; cyclic data processing; event driven reaction; fuzzy based control; fuzzy reasoning; graphical programming; grids; long range autonomous planetary micro-rovers; obstacle avoidance; obstacle detection; odometry; real-time artificial intelligence reasoning; robust rover position estimation; stereo vision elevation maps; Artificial intelligence; Control systems; Fuzzy control; Fuzzy reasoning; Fuzzy sets; Fuzzy systems; Hybrid intelligent systems; Real time systems; Robust control; Stereo vision;
Conference_Titel :
Aerospace Conference, 1999. Proceedings. 1999 IEEE
Conference_Location :
Snowmass at Aspen, CO
Print_ISBN :
0-7803-5425-7
DOI :
10.1109/AERO.1999.793152