JPL Technical Report Server

Autonomous navigation results from the Mars Exploration Rover (MER) Mission

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dc.contributor.author Maimone, Mark
dc.contributor.author Johnson, Andrew
dc.contributor.author Cheng, Yang
dc.contributor.author Willson, Reg
dc.contributor.author Matthies, Larry H.
dc.date.accessioned 2009-01-26T19:44:18Z
dc.date.available 2009-01-26T19:44:18Z
dc.date.issued 2004-06-18
dc.identifier.citation 9th International Symposium on Experimental Robotics, Singapore, June 18, 2004. en_US
dc.identifier.clearanceno 04-2941
dc.identifier.uri http://hdl.handle.net/2014/41077
dc.description.abstract In January, 2004, the Mars Exploration Rover (MER) mission landed two rovers, Spirit and Opportunity, on the surface of Mars. Several autonomous navigation capabilities were employed in space for the first time in this mission. ]n the Entry, Descent, and Landing (EDL) phase, both landers used a vision system called the, Descent Image Motion Estimation System (DIMES) to estimate horizontal velocity during the last 2000 meters (m) of descent, by tracking features on the ground with a downlooking camera, in order to control retro-rocket firing to reduce horizontal velocity before impact. During surface operations, the rovers navigate autonomously using stereo vision for local terrain mapping and a local, reactive planning algorithm called Grid-based Estimation of Surface Traversability Applied to Local Terrain (GESTALT) for obstacle avoidance. ]n areas of high slip, stereo vision-based visual odometry has been used to estimate rover motion, As of mid-June, Spirit had traversed 3405 m, of which 1253 m were done autonomously; Opportunity had traversed 1264 m, of which 224 m were autonomous. These results have contributed substantially to the success of the mission and paved the way for increased levels of autonomy in future missions. en_US
dc.description.sponsorship NASA/JPL en_US
dc.language.iso en_US en_US
dc.publisher Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2004. en_US
dc.subject autonomous en_US
dc.subject navigation en_US
dc.subject Mars Exploration Rover (MER) en_US
dc.title Autonomous navigation results from the Mars Exploration Rover (MER) Mission en_US
dc.type Preprint en_US


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