Training a terrain traversability classifier for a planetary rover through simulation

Terrain mapping for a walking planetary rover

Real-time assessment of terrain traversability for autonomous rover navigation

This paper presents a novel technique for real-time measurement of terrain characteristics and incorporation of this information into the navigation strategy of an autonomous mobile robot. The proposed methodology utilizes a f u z q logic framework for on-board analysis of terrain traversability, and develops a set of fuzzy navigation rules that guide the rover toward the safest and the most tr...

Autonomous Terrain Classification for Planetary Rover

In order to improve autonomous mobility of planetary rover, many works have recently focused on non-geometric features of surrounding terrain such as color, texture, and wheel-soil interaction mechanics (Dima et al., 2004; Halatci et al., 2007; Helmick et al., 2009; Ishigami et al., 2007). To tackle with the issue, most of them propose to utilize on-board sensors such as multi-spectral imagers,...

Results in Terrain Mapping for a Walking Planetary Rover

Abstmct We present results from a tarain mapping system for walking robots that constructs quantitative models of surface gwmetry. The accuracy of the constructed maps enables safe, powercfficient locomotion over the natural, rugged terrain found on planetary surfaces. The mapping system acquires range images with a laser rangefinder, preprocesses and stores the images, and constructs elevation...

ISTS 2006-k-09 TERRAMECHANICS-BASED ANALYSIS ON SLOPE TRAVERSABILITY FOR A PLANETARY EXPLORATION ROVER

This paper describes slope traversability analysis for a planetary exploration rover based on a terramechanics approach. In this research, the slope traversability is defined as consisting both of slope climbing and traversing (crossing) capabilities. The authors have been investigated traction mechanics between a wheel of a rover and loose soil. Applying our advantages in the wheel-soil intera...