Towards Autonomous Planetary Exploration
| Autor: | Stefan Büttner, Peter Lehner, Mallikarjuna Vayugundla, Armin Wedler, Josef Reill, Oliver Porges, Tim Bodenmüller, Kristin Bussmann, Martin J. Schuster, Christoph Brand, Sebastian Riedel, Michael Kaßecker, Heiko Hirschmüller, Christian Nissler, Werner Friedl, Matthias Hellerer, Hannah Lehner, Michael Suppa, Bernhard Vodermayer, Zoltan-Csaba Marton, Andreas Dömel, Felix Ruess, Iris Grixa, Sebastian G. Brunner |
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| Rok vydání: | 2017 |
| Předmět: |
autonomous mobile robots
0209 industrial biotechnology Engineering Mission control center object pose estimation Real-time computing power distribution Terrain 02 engineering and technology exploration localization Industrial and Manufacturing Engineering Space exploration 020901 industrial engineering & automation Artificial Intelligence planetary exploration mapping Electrical and Electronic Engineering navigation Simulation robot control Raumfahrt-Systemdynamik Stereo cameras business.industry Mechanical Engineering object detection Robotics Perzeption und Kognition robotic challenge Control and Systems Engineering manipulation robotic system SLAM Component-based software engineering autonomous task execution robot locomotion Extraterrestrial Environment Robot Artificial intelligence business robot simulation Software |
| Zdroj: | Journal of Intelligent & Robotic Systems. 93:461-494 |
| ISSN: | 1573-0409 0921-0296 |
| DOI: | 10.1007/s10846-017-0680-9 |
| Popis: | Planetary exploration poses many challenges for a robot system: From weight and size constraints to extraterrestrial environment conditions, which constrain the suitable sensors and actuators. As the distance to other planets introduces a significant communication delay, the efficient operation of a robot system requires a high level of autonomy. In this work, we present our Lightweight Rover Unit (LRU), a small and agile rover prototype that we designed for the challenges of planetary exploration. Its locomotion system with individually steered wheels allows for high maneuverability in rough terrain and stereo cameras as its main sensors ensure the applicability to space missions. We implemented software components for self-localization in GPS-denied environments, autonomous exploration and mapping as well as computer vision, planning and control modules for the autonomous localization, pickup and assembly of objects with its manipulator. Additional high-level mission control components facilitate both autonomous behavior and remote monitoring of the system state over a delayed communication link. We successfully demonstrated the autonomous capabilities of our LRU at the SpaceBotCamp challenge, a national robotics contest with focus on autonomous planetary exploration. A robot had to autonomously explore an unknown Moon-like rough terrain, locate and collect two objects and assemble them after transport to a third object - which the LRU did on its first try, in half of the time and fully autonomously. The next milestone for our ongoing LRU development is an upcoming planetary exploration analogue mission to perform scientific experiments at a Moon analogue site located on a volcano. |
| Databáze: | OpenAIRE |
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