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| ID No : | 1006 Edit | Title: | Reactive, Safe Navigation for Lunar and Planetary Robots |
| Summary / Review : | "When humans return to the moon, Astronauts will be accompanied by robotic helpers. Enabling robots to safely operate near astronauts on the lunar surface has the potential to significantly improve the efficiency of crew surface operations. Safely operating robots in close proximity to astronauts on the lunar surface requires reactive obstacle avoidance capabilities not available on existing planetary robots. In this paper we present work on safe, reactive navigation using a stereo based high-speed terrain analysis and obstacle avoidance system. Advances in the design of the algorithms allow it to run terrain analysis and obstacle avoidance algorithms at full frame rate (30Hz) on off the shelf hardware. The results of this analysis are fed into a fast, reactive path selection module, enforcing the safety of the chosen actions. The key components of the system are discussed and test results are presented." (Author's abstract) |
| Author(s) : |
Utz, Hans; Ruland, Thomas, [Ames Research Center] |
| Publication Date: | 2008 |
| Category(s) : |
Robotics and teleoperation |
| Web URL : |
http://hdl.handle.net/2060/20090026216
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| PERMANENT code(s) : | L,U |
|
(Explanation of the last 3 rows above) |
In the row above, there are up to 4 possibilities: U = URL you can click on to get a copy instantly from another source on the internet, or request it from that source D = Downloadable from PERMANENT (such as because no other URL known...) L = LAN copy, PERMANENT has a digital copy but not downloadable from our website P = Paper copy in the PERMANENT office Typically, only 0 to 3 methods are available. |
| NTRS : | 20090026216 |
| Other Ref # : | ARC-E-DAA-TN-160 |
| Submitted by : | MEP |
| Comments: |
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