Abstract
The paper proposes a novel architecture for autonomously generating and managing movement plans of planetary rovers, including locating the current position, planning a path to the goal, avoiding obstacles, map building and actual roving. The system consists of a camera-based navigation system, a path-planning system and a plan management system. The emphasis is especially placed on the plan management system, which utilizes the uniform representation of the instantaneous subgoals in the form of virtual sensor states and the autonomous generation of movement plans represented in the form of the subsumption architecture, in order to persuit the overall goal while efficiently managing various unpredicted anomalies in a partially unknown, ill-structured environment such as a planetary surface. Computer simulations have been made and in-house experiments evaluating the overall system are being performed.
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Schedule a callMore From: Automatic Control in Aerospace 1994 (Aerospace Control '94)
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