Publisher:Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2005.
Citation:IEEE Aerospace Conference, Big Sky, Montana, March 5-12, 2005.
Abstract:
This paper describes the target designation, tracking, approach, and camera handoff technologies required to achieve accurate, single-command autonomous instrument placement for a planetary rover. It focuses on robust tracking integrated with obstacle avoidance during the approach phase, and image-based camera handoff to allow vision-based instrument placement. It also provides initial results from a complete system combining these technologies with rover base placement to maximize arm manipulability and imagebased instrument placement.