2026-05-30T12:01:26Zhttps://riuma.uma.es/rest/oai/request

oai:riuma.uma.es:10630/193382026-02-03T11:36:38Zcom_10630_2254col_10630_37953

Gerdes, Levin Azkarate, Martin Sánchez Ibáñez, José Ricardo Joudrier, Luc Pérez-del-Pulgar-Mancebo, Carlos Jesús 2020-02-26T13:42:46Z 2020-02-26T13:42:46Z 2020-02-26 https://hdl.handle.net/10630/19338 Rovers operating on Mars are in need of more and more autonomous features to ful ll their challenging mission requirements. However, the inherent constraints of space systems make the implementation of complex algorithms an expensive and difficult task. In this paper we propose a control architecture for autonomous navigation. Efficient implementations of autonomous features are built on top of the current ExoMars navigation method, enhancing the safety and traversing capabilities of the rover. These features allow the rover to detect and avoid hazards and perform long traverses by following a roughly safe path planned by operators on ground. The control architecture implementing the proposed navigation mode has been tested during a field test campaign on a planetary analogue terrain. The experiments evaluated the proposed approach, autonomously completing two long traverses while avoiding 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 computationally inexpensive long-range autonomous navigation in terrains of medium difficulty. eng http://creativecommons.org/licenses/by-nc-nd/4.0/ open access Attribution-NonCommercial-NoDerivatives 4.0 Internacional Robótica Efficient Autonomous Navigation for Planetary Rovers with Limited Resources journal article