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Carnegie Mellon Robotics Institute

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Abstract

This paper describes the navigation system used on a prototype sun-synchronous robot. Sun-synchrony is a concept that will enable exploration missions by solar-powered rovers that could last months or years. This paper presents navigation algorithms developed for traversing natural terrain robustly. The novel elements of this work are the refinements necessary to transform laboratory-demonstrated technologies into a form useful for robust, sun-synchronous exploration. Results of a field experiment in the Canadian Arctic, where the robot traversed 6.1km, 90% autonomously, are also presented.

Keywords

navigation, sun-synchronous, mobile robot, stereo vision

Notes

Sponsor: NASA

Grant ID: NAG9-1256

Associated Center(s) / Consortia: Field Robotics Center

Associated Project(s): Sun Synchronous Navigation

Number of pages: 6

Text Reference

Christopher Urmson, M Bernardine Dias, and Reid Simmons, "Stereo Vision Based Navigation for Sun-Synchronous Exploration," Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02), September, 2002, pp. 805 - 810.

BibTeX Reference

@inproceedings{Urmson_2002_4038,
   author = "Christopher Urmson and M Bernardine Dias and Reid Simmons",
   title = "Stereo Vision Based Navigation for Sun-Synchronous Exploration",
   booktitle = "Proceedings of the 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '02)",
   pages = "805 - 810",
   month = "September",
   year = "2002",
   volume = "1",
}

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