Abstract
Accurate perception of the detected terrain is a precondition for the planetary rover to perform its own mission. However, terrain measurement based on vision and LIDAR is subject to environmental changes such as strong illumination and dust storms. In this paper, considering the influence of uncertainty in the detection process, a vibration/gyro coupled terrain estimation method based on multipoint ranging information is proposed. The terrain update model is derived by analyzing the measurement uncertainty and motion uncertainty. Combined with Clearpath Jackal unmanned vehicle—the terrain mapping accuracy test based on ROS (Robot Operating System) simulation environment—indoor Optitrack auxiliary environment and outdoor soil environment was completed. The results show that the proposed algorithm has high reconstruction ability for a given scale terrain. The reconstruction accuracy in the above test environments is within 1 cm, 2 cm, and 6 cm, respectively.
Highlights
The planetary rover has different design requirements and configuration standards according to different task types and functions
This paper will test the correctness of the proposed algorithm from three aspects: (1) terrain estimation experiment based on Robot operating operating system system (ROS) simulation environment; (2) based on Optitrack assisted indoor perception test; and (3) based on outdoor soil environment test
Where the simulation environment will build a simulated lunar terrain based on the ROS Gazebo simulation platform and the physical test will be carried out in the indoor Optitrack auxiliary environment and the outdoor soil environment
Summary
The planetary rover has different design requirements and configuration standards according to different task types and functions. In 2013, the MRPTA (Micro-Rover Platform with Tooling Arm) project initiated by the Canadian Space Agency [12] realized the minimum sensor configuration-based terrain construction, proposed a local grid representation centered on the rover and used the map manager achieve the fusion management of measurements at different times. Based on the above analysis, this paper mainly focuses on the situation that the visual sensing unit cannot work normally when illumination condition changes It discusses the feasible method of accurate terrain reconstruction by considering the active ranging information with motion uncertainty. Combined with the planetary rover environment, this paper mainly construction method, so to improve the robustness of rover to environmental elevation changes and to focuses on discussing theasmultipoint distance-based vibration/gyroscope-coupled terrain provide support for subsequent motion planning and.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
