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Carnegie Mellon Robotics Institute

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Abstract

The localization and identification of antarctic meteorites is a task of great scientific interest and with implications to planetary exploration. Autonomous search for antarctic meteorites presents a profound technical challenge. Ground Penetrating Radar (GPR) holds the prospect to safeguard antarctic robot from terrain dangers and detect subsurface objects. In January 1998, we validated a 500 MHz GPR sensor as part of a field robotic technology demonstration at Patriot Hills, Antarctica. We deployed the sensor from a sled and integrate with position and attitude instruments to perform field measurements. Data was acquired under different conditions and in multiple locations. The radar detected hidden crevasses from 50 cm. distance, thus showing its merit as a rover safeguarding device. It also localized 5 cm. rocks ins now and ice. Moreover, the radar data was used to characterize snow/ice/bedrock stratigraphy. GPR position measurements enabled ground truth and mapping of the location of hazards and interesting subsurface objects and features.

Keywords

Antarctica, GPR, robotic explorers, meteorite search

Notes

Sponsor: NASA?s Office of Space Science Advanced Technology & Mission Studies Division

Grant ID: Telerobotics Program UPN 632-40-42

Associated Center(s) / Consortia: Space Robotics Initiative and Field Robotics Center

Associated Project(s): Robotic Antarctic Meteorite Search and Motion Free Scanning Radar

Text Reference

Alex Foessel, Dimitrios (Dimi) Apostolopoulos, and William (Red) L. Whittaker, "Radar sensor for an autonomous Antarctic explorer," Proc. SPIE , Mobile Robots XIII and Intelligent Transportation Systems, Vol. 3525, January, 1999, pp. 117-124.

BibTeX Reference

@article{Foessel_1999_2745,
   author = "Alex Foessel and Dimitrios (Dimi) Apostolopoulos and William (Red) L. Whittaker",
   editor = "Howie M. Choset; Douglas W. Gage; Pushkin Kachroo; Mikhail A. Kourjanski; Marten J. de Vries",
   title = "Radar sensor for an autonomous Antarctic explorer",
   journal = "Proc. SPIE , Mobile Robots XIII and Intelligent Transportation Systems",
   pages = "117-124",
   month = "January",
   year = "1999",
   volume = "3525",
}

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