Stereo Vision Based Navigation for Sun-Synchronous Exploration

• Main Authors: Chris P. Urmson, M. Bernardine Dias, Reid G. Simmons
• Other Authors: The Pennsylvania State University CiteSeerX Archives
• Format: Text
• Language: English
• Published: 2002
• Subjects: Arctic
• Online Access: http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.18.2915; http://www.ri.cmu.edu/pub_files/pub3/urmson_christopher_2002_1/urmson_christopher_2002_1.pdf

This paper describes the navigation system used on a prototype sun-synchronous robot. Sun-synchrony is a concept that will enable exploration missions by solarpowered rovers that could last months or years. This paper presents navigation algorithms developed for traversing natural terrain robustly. The novel elements of this work are the refinements necessary to transform laboratory-demonstrated technologies into a form useful for robust, sun-synchronous exploration. Results of a field experiment in the Canadian Arctic, where the robot traversed 6.1km, 90% autonomously, are also presented.