Sensor-fused navigation and manipulation from a planetary rover

Eric T. Baumgartner; Patrick C. Leger; Paul S. Schenker; Terrance L. Huntsberger

doi:10.1117/12.327015

9 October 1998 Sensor-fused navigation and manipulation from a planetary rover

Eric T. Baumgartner, Patrick C. Leger, Paul S. Schenker, Terrance L. Huntsberger

Proceedings Volume 3523, Sensor Fusion and Decentralized Control in Robotic Systems; (1998) https://doi.org/10.1117/12.327015
Event: Photonics East (ISAM, VVDC, IEMB), 1998, Boston, MA, United States

Abstract

This paper describes the development of advanced rover navigation and manipulation techniques for use by NASA's Sample Return Rover. These techniques include an algorithm for estimating the change in the rover's position and orientation by registering successive range maps from the rover's hazard avoidance stereo camera pair and the fusion of this information with the rover's wheel odometry. This map registration technique is also extended to register range maps to an a priori model-based range map for relative rover position and orientation determination. Finally, a technique for the robust and precise positioning of a rover- mounted manipulator using visual feedback from the rover's stereo pair is presented. Experimental results for each of these techniques is documented in this paper.

Citation Download Citation

Eric T. Baumgartner, Patrick C. Leger, Paul S. Schenker, and Terrance L. Huntsberger "Sensor-fused navigation and manipulation from a planetary rover", Proc. SPIE 3523, Sensor Fusion and Decentralized Control in Robotic Systems, (9 October 1998); https://doi.org/10.1117/12.327015

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available