Field Trials of a Prototype Lunar Rover under Multi-Sensor Safeguarded Teleoperation Control

Eric Krotkov, Martial Hebert, Lars Henriksen, Paul Levin, Mark Maimone, Reid Simmons, and James Teza
American Nuclear Society Seventh Topical Meeting on Robotics & Remote Systems, May, 1997, pp. 575 - 582.


Download
  • Adobe portable document format (pdf) (293KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
This paper presents the results of field trials of a prototype lunar rover traveling over natural terrain under safeguarded teleoperation control. Both the rover and the safeguarding approach have been used in previous work. The original contributions of this paper are the development and integration of a laser sensing system, and extensive field testing of the overall system. The laser system, which complements an existing stereo vision system, is based on a line-scanning laser ranger viewing the area 1 meter in front of the rover. The laser system has demonstrated excellent performance: zero misses and few false alarms operating at 4 Hz. The overall safeguarding system guided the rover 43 km over lunar analogue terrain with 0.8 failures per kilometer.

Notes
Associated Center(s) / Consortia: Vision and Autonomous Systems Center

Text Reference
Eric Krotkov, Martial Hebert, Lars Henriksen, Paul Levin, Mark Maimone, Reid Simmons, and James Teza, "Field Trials of a Prototype Lunar Rover under Multi-Sensor Safeguarded Teleoperation Control," American Nuclear Society Seventh Topical Meeting on Robotics & Remote Systems, May, 1997, pp. 575 - 582.

BibTeX Reference
@inproceedings{Krotkov_1997_983,
   author = "Eric Krotkov and Martial Hebert and Lars Henriksen and Paul Levin and Mark Maimone and Reid Simmons and James Teza",
   title = "Field Trials of a Prototype Lunar Rover under Multi-Sensor Safeguarded Teleoperation Control",
   booktitle = "American Nuclear Society Seventh Topical Meeting on Robotics & Remote Systems",
   pages = "575 - 582",
   month = "May",
   year = "1997",
}