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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Bibliographic Details
Published inIEEE robotics and automation letters Vol. 5; no. 2; pp. 2123 - 2130
Main Authors Sasaki, Takahiro, Otsu, Kyohei, Thakker, Rohan, Haesaert, Sofie, Agha-mohammadi, Ali-akbar
Format Journal Article
LanguageEnglish
Published Piscataway IEEE 01.04.2020
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
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Summary: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.
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2020.2970650