| タイトル | Terrain modelling and motion planning for an autonomous exploration rover |
| 著者（英） | Faugeras, O.; Grandjean, P.; Simeon, T.; Richard, F.; Hayard, M.; Benoliel, S. |
| 著者所属（英） | Alcatel Espace |
| 発行日 | 1994-10-01 |
| 言語 | eng |
| 内容記述 | To assess the feasibility of planetary exploration missions using rovers, the French national agency CNES, with a consortium of European laboratories and industrial concerns, has initiated the Eureka project, 'Illustration of an Autonomous Robot for the Exploration of Space' (IARES). IARES is a demonstrator composed of a rover and a ground station, linked by telemetry and telecommand. It is aimed at verifying, on earth, robotic concepts developed by the RISP group of French laboratories (LAAS, INRIA, CERT, LETI) to perform scientific missions such as autonomous terrain sample collecting over large areas. To cope with the actual needs of planet exploration, IARES suitability is assessed through constraints on limited bandwidth, time delay and on-board resources. This autonomy relies heavily on robust onboard trajectory generation capabilities. This paper presents the main functions of the IARES navigation sub-system and shows how they are combined to allow movement in Mars-like environments. Section 2 gives an overall description of the IARES system. Section 3 details the functions of the Navigation sub-system, and finally, section 4 illustrates with a simple example the use of these functions. |
| NASA分類 | EARTH RESOURCES AND REMOTE SENSING |
| レポートNO | 95N23765 |
| 権利 | No Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/228793 |
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