Target tracking, approach, and camera handoff for automated instrument placement

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.