Field Trials of a Prototype Lunar Rover under Multi-Sensor Safeguarded Teleoperation Control - Robotics Institute Carnegie Mellon University

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
Conference Paper, Proceedings of ANS 7th Topical Meeting on Robotics & Remote Systems, pp. 575 - 582, May, 1997

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.

BibTeX

@conference{Krotkov-1997-14376,
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 = {Proceedings of ANS 7th Topical Meeting on Robotics & Remote Systems},
year = {1997},
month = {May},
pages = {575 - 582},
}