Field testing of a rover guidance, navigation, and control architecture to support a ground-ice prospecting mission to Mars

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• 作者：Timothy Barfoot^a ; ^{tim.barfoot@utoronto.ca"" rel=""nofollow} ; Paul Furgale^a ; Braden Stenning^a ; Patrick Carle^a ; Laura Thomson^b ; Gordon Osinski^b ; ^c ; Michael Daly^d ; Nadeem Ghafoor^e [Author vitae]
• 关键词：Planetary rover ; Guidance ; navigation ; and control ; Ground-ice prospecting ; Mars
• 刊名：Robotics and Autonomous Systems
• 出版年：2011
• 出版时间：June 2011
• 年：2011
• 卷：59
• 期：6
• 页码：472-488
• 全文大小：6722 K

文摘

This paper provides an overview of a rover guidance, navigation, and control (GN&C) architecture being developed to support a ground-ice prospecting mission to Mars. The main contribution of this paper is to detail an integrated field campaign that demonstrates the viability of the key rover GN&C techniques needed to carry out this mission. Tests were conducted on Devon Island in the Canadian High Arctic during the summer of 2009, wherein a large field robot was driven on real polygonal terrain (a landform of interest on Mars). Lessons learned and recommendations for future work are provided.