A photoelectric payload for visual self-inspection of planetary rovers

2021 ◽  
Author(s):  
Qingchun Zhang ◽  
Yongfu Hu ◽  
Jingbo Tong ◽  
Zinian Jia
Keyword(s):  
Planetary Rovers

scholarly journals Model-Based Slippage Estimation to Enhance Planetary Rover Localization with Wheel Odometry

2021 ◽  
Vol 11 (12) ◽  
pp. 5490
Author(s):  
Anna Maria Gargiulo ◽  
Ivan di Stefano ◽  
Antonio Genova
Keyword(s):  
Inertial Measurement Unit ◽  
Correction Method ◽  
Harsh Environments ◽  
Measurement Unit ◽  
Planetary Rovers ◽  
Model Based ◽  
Accurate Knowledge ◽  
And Control ◽  
Wheeled Vehicles ◽  
Rover Localization

The exploration of planetary surfaces with unmanned wheeled vehicles will require sophisticated software for guidance, navigation and control. Future missions will be designed to study harsh environments that are characterized by rough terrains and extreme conditions. An accurate knowledge of the trajectory of planetary rovers is fundamental to accomplish the scientific goals of these missions. This paper presents a method to improve rover localization through the processing of wheel odometry (WO) and inertial measurement unit (IMU) data only. By accurately defining the dynamic model of both a rover’s wheels and the terrain, we provide a model-based estimate of the wheel slippage to correct the WO measurements. Numerical simulations are carried out to better understand the evolution of the rover’s trajectory across different terrain types and to determine the benefits of the proposed WO correction method.

Single- and Multi-FPGA Acceleration of Dense Stereo Vision for Planetary Rovers

2019 ◽  
Vol 18 (2) ◽  
pp. 1-27 ◽  
Author(s):  
George Lentaris ◽  
Konstantinos Maragos ◽  
Dimitrios Soudris ◽  
Xenophon Zabulis ◽  
Manolis Lourakis
Keyword(s):  
Stereo Vision ◽  
Planetary Rovers ◽  
Fpga Acceleration

scholarly journals State and Unknown Terrain Estimation for Planetary Rovers via Interval Observers

2021 ◽  
pp. 2100040
Author(s):  
Mohammad Khajenejad ◽  
Zeyuan Jin ◽  
Sze Zheng Yong
Keyword(s):  
Planetary Rovers ◽  
Interval Observers

scholarly journals Long-range navigation for resource-constrained planetary rovers using angle of arrival

2015 ◽  
Vol 2 (6) ◽  
pp. 14-00532-14-00532
Author(s):  
Takayuki ISHIDA ◽  
Hiroka INOUE ◽  
Wataru MOGI ◽  
Masaki TAKAHASHI ◽  
Masahiro ONO ◽  
...  
Keyword(s):  
Long Range ◽  
Angle Of Arrival ◽  
Resource Constrained ◽  
Planetary Rovers
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