自律ナビゲーション機能を備えた惑星ローバ向けGNCアーキテクチャ
A GNC Architecture for Planetary Rovers with Autonomous Navigation Capabilities
火星探査ローバ向けに、地形難易度に応じて基本ナビと適応SLAMナビを切り替える2階層の誘導・航法・制御アーキテクチャを提案し、模擬惑星環境で検証した。
著者: Martin Azkarate, Levin Gerdes, Luc Joudrier, Carlos J. Pérez-del-Pulgar
分類: cs.RO
原文アブストラクト
This paper proposes a Guidance, Navigation, and Control (GNC) architecture for planetary rovers targeting the conditions of upcoming Mars exploration missions such as Mars 2020 and the Sample Fetching Rover (SFR). The navigation requirements of these missions demand a control architecture featuring autonomous capabilities to achieve a fast and long traverse. The proposed solution presents a two-level architecture where the efficient navigation (low) level is always active and the full navigation (upper) level is enabled according to the difficulty of the terrain. The first level is an efficient implementation of the basic functionalities for autonomous navigation based on hazard detection, local path replanning, and trajectory control with visual odometry. The second level implements an adaptive SLAM algorithm that improves the relative localization, evaluates the traversability of the terrain ahead for a more optimal path planning, and performs global (absolute) localization that corrects the pose drift during longer traverses. The architecture provides a solution for long range, low supervision and fast planetary exploration. Both navigation levels have been validated on planetary analogue field test campaigns.
