Active localization for planetary rovers

Hiroka Inoue, Masahiro Ono, Sakurako Tamaki, Shuichi Adachi

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

This paper presents a path planning algorithm to reduce localization error by intelligently choosing a path that will result in low expected sensor errors. For example, Mars rovers can enhance localization accuracy by selectively driving over feature-rich terrain where visual odometry can be used. In general, having an accurate localization is vital for autonomous mobile exploration platforms such as rovers and aerial vehicles. However, typical path planning methods tend to narrowly focus on minimizing path length. Our proposed path planning algorithm, namely Error Propagation A∗ (EPA∗ ), intelligently balances path length and localization. EPA∗ is a graph search algorithm, where a linear error propagation law is derived before the search on each edge of the graph. Using the propagation law, EPA∗ can quickly find a path that minimizes a given objective function, which includes both path length and error covariance. We demonstrate the EPA∗ algorithm using the real data from Curiosity. The result demonstrates that the EPA∗ algorithm can find a path that balances the path length and the expected localization error, as expected.

本文言語English
ホスト出版物のタイトル2016 IEEE Aerospace Conference, AERO 2016
出版社IEEE Computer Society
ISBN(電子版)9781467376761
DOI
出版ステータスPublished - 2016 6 27
イベント2016 IEEE Aerospace Conference, AERO 2016 - Big Sky, United States
継続期間: 2016 3 52016 3 12

出版物シリーズ

名前IEEE Aerospace Conference Proceedings
2016-June
ISSN(印刷版)1095-323X

Other

Other2016 IEEE Aerospace Conference, AERO 2016
国/地域United States
CityBig Sky
Period16/3/516/3/12

ASJC Scopus subject areas

  • 航空宇宙工学
  • 宇宙惑星科学

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