Where to Map? Iterative Rover-Copter Path Planning for Mars Exploration

In addition to conventional ground rovers, the Mars 2020 mission will send a helicopter to Mars. The copter's highresolution data helps the rover to identify small hazards such as steps and pointy rocks, as well as providing rich textual information useful to predict perception performance. In...

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Vydáno v:IEEE robotics and automation letters Ročník 5; číslo 2; s. 2123 - 2130
Hlavní autoři: Sasaki, Takahiro, Otsu, Kyohei, Thakker, Rohan, Haesaert, Sofie, Agha-mohammadi, Ali-akbar
Médium: Journal Article
Jazyk:angličtina
Vydáno: Piscataway IEEE 01.04.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Témata:
Computer simulation
Cooperating robots
Drones
Hazard identification
Helicopters
Iterative methods
Localization
Mars
Mars exploration
Mars landing
Mars missions
Mars rovers
motion and path planning
multi-robot systems
Path planning
Perturbation methods
Satellites
space robotics and automation
Space vehicles
Uncertainty
ISSN:2377-3766, 2377-3766
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Shrnutí:In addition to conventional ground rovers, the Mars 2020 mission will send a helicopter to Mars. The copter's highresolution data helps the rover to identify small hazards such as steps and pointy rocks, as well as providing rich textual information useful to predict perception performance. In this letter, we consider a three-agent system composed of a Mars rover, copter, and orbiter. The objective is to provide good localization to the rover by selecting an optimal path that minimizes the localization uncertainty accumulation during the rover's traverse. To achieve this goal, we quantify the localizability as a goodness measure associated with the map, and conduct a joint-space search over rover`s path and copter's perceptual actions given prior information from the orbiter. We jointly address where to map by the copter and where to drive by the rover using the proposed iterative copter-rover path planner. We conducted numerical simulations using the map of Mars 2020 landing site to demonstrate the effectiveness of the proposed planner.
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ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2020.2970650