Robotic planetary exploration : autonomous navigation in cluttered unknown environments

摘要

Autonomous navigation capabilities are essential fo r planetary exploration robots, as direct remote operation is severely limited due to communication constraints. The autonomous navigation system developed and tested at CNES allows exploration rovers to reach far away targets with no intervention from gr ound operation other than target designation. The autonomous navigation loop cyclically performs several distinct functions: perception of the environment through a stereoscopic vision device; path planning to reach the designated target; localization of the rover in its environment; and trajectory control to follow the desired path.