Hierarchical Navigation Architecture and Robotic Arm Controller for a Sample Return Rover

摘要

This work presents a hierarchical navigation architecture and cascade classifier for sample search and identification on a space exploration rover. A three tier navigation architecture and inverse Jacobian based robot arm controller are presented. The algorithms are implemented on AERO, the Autonomous Exploration Rover, participating in the NASA Sample Return Robot Centennial Challenge in 2013 and initial results are demonstrated.