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dc.contributor.authorGerdes, Levin
dc.contributor.authorAzkarate, Martin
dc.contributor.authorSánchez Ibáñez, José Ricardo
dc.contributor.authorJoudrier, Luc
dc.contributor.authorPérez-del-Pulgar-Mancebo, Carlos Jesús 
dc.date.accessioned2020-02-26T13:42:46Z
dc.date.available2020-02-26T13:42:46Z
dc.date.created2019
dc.date.issued2020-02-26
dc.identifier.urihttps://hdl.handle.net/10630/19338
dc.description.abstractRovers 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.en_US
dc.language.isoengen_US
dc.rightsinfo:eu-repo/semantics/openAccessen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/*
dc.subjectRobóticaen_US
dc.subject.otherRoboticsen_US
dc.subject.otherAutonomyen_US
dc.subject.otherGuidanceen_US
dc.subject.otherNavigationen_US
dc.titleEfficient Autonomous Navigation for Planetary Rovers with Limited Resourcesen_US
dc.typeinfo:eu-repo/semantics/articlees_ES
dc.centroEscuela de Ingenierías Industrialesen_US
dc.rights.ccAttribution-NonCommercial-NoDerivatives 4.0 Internacional*
dc.type.hasVersioninfo:eu-repo/semantics/submittedVersiones_ES


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