RT Journal Article
T1 Efficient Autonomous Navigation for Planetary Rovers with Limited Resources
A1 Gerdes, Levin
A1 Azkarate, Martin
A1 Sánchez Ibáñez, José Ricardo
A1 Joudrier, Luc
A1 Pérez-del-Pulgar-Mancebo, Carlos Jesús
K1 Robótica
AB Rovers operating on Mars are in need of more and more autonomous features to ful ll theirchallenging mission requirements. However, the inherent constraints of space systems makethe implementation of complex algorithms an expensive and difficult task. In this paperwe propose a control architecture for autonomous navigation. Efficient implementations ofautonomous features are built on top of the current ExoMars navigation method, enhancingthe safety and traversing capabilities of the rover. These features allow the rover to detectand avoid hazards and perform long traverses by following a roughly safe path planned byoperators on ground. The control architecture implementing the proposed navigation modehas been tested during a  field test campaign on a planetary analogue terrain. The experimentsevaluated the proposed approach, autonomously completing two long traverses whileavoiding hazards. The approach only relies on the optical Localization Cameras stereobench,a sensor that is found in all rovers launched so far, and potentially allows for computationallyinexpensive long-range autonomous navigation in terrains of medium difficulty.
YR 2020
FD 2020-02-26
LK https://hdl.handle.net/10630/19338
UL https://hdl.handle.net/10630/19338
LA eng
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 20 ene 2026