Title :
Science-influenced mobile robot guidance using Bayesian Networks
Author :
Gallant, Michael ; Ellery, Alex ; Marshall, John
Author_Institution :
Dept. of Mech. & & Aerosp. Eng., Carleton Univ., Ottawa, ON, Canada
Abstract :
The high cost of planetary rover missions limits risk-taking and therefore restricts scientific exploration. Also, limited autonomy requires time-consuming manual commands that must be issued to the rover from a great distance. This pa per explores the combination of vision-based geological in formation inferred from a Bayesian Network (BN) with the guidance system of a micro-rover scout. Simulation is used to study the abilities of the developed algorithm.
Keywords :
aerospace robotics; belief networks; mobile robots; planetary rovers; robot vision; Bayesian networks; microrover scout guidance system; planetary rover missions; science-influenced mobile robot guidance; vision-based geological information; Bayesian methods; Feature extraction; Minerals; Robot sensing systems; Planetary robotics; autonomous science; belief networks; guidance systems; planetary exploration;
Conference_Titel :
Electrical and Computer Engineering (CCECE), 2011 24th Canadian Conference on
Conference_Location :
Niagara Falls, ON
Print_ISBN :
978-1-4244-9788-1
Electronic_ISBN :
0840-7789
DOI :
10.1109/CCECE.2011.6030639
