Skip to main content
SpringerLink
Log in

Navigation of a martian rover in very rough terrain

  • Chapter 7 Localization And Map Building
  • Conference paper
  • First Online:
Experimental Robotics VI

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

  • 75 Accesses

Abstract

This paper presents initial experimental outcomes of research aimed at building an autonomous navigation system for a working scale model, Russian built, Marskohod Martian Rover capable of negotiating very rough terrain, including climbing over obstacles of up to the height of its own wheel diameter (25 cm). Whilst the final goal is to build a system capable of navigating the vehicle through initially unknown, very rough terrain, mainly by means of natural landmarks, the stage of research reported here concerns navigating only in known rough terrain.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

Bibliography

  1. Haist, A., Siméon, T. and Taix, M. A Landmark-based Planner for Rough Terrain Navigation, Experimental Robotics V, The Fifth International Symposium, Barcelona, Catalonia, June 15–18, 1997, pp.216–226.

    Google Scholar 

  2. Suzuki, S., Kato, T., Asada, M. and Hosoda, K. Behaviour Learning for a Mobile Robot with Omnidirectional Vision Enhanced by an Active Zoom Mechanism, Intelligent Autonomous Systems, edited by Kakazu, Y., Wada, M. And Sato. T., IOS Press, 1998, pp.242–249.

    Google Scholar 

  3. Montano, L. And Asensio, J.R. Real-Time Robot Navigation in Unstructured Environments Using a 3D Laser Rangefinder, Proc. IROS 97, Genoble, France, Sept. 7–11, 1997, pp.526–532.

    Google Scholar 

  4. Jarvis, R.A. Etherbot-An Autonomous Mobile on a Local Area Network Radio Tether, Proc. Fifth International Symposium on Experimental Robotics, Barcelona, Catalonia, June 15–18, 1997, pp.151–163.

    Google Scholar 

  5. Jarvis, R.A. An Autonomous Heavy Duty Outdoor Robotic Tracked Vehicle, International Conference on Robots and Systems, Grenoble, France, Sept. 8–12, 1997, pp.352–359.

    Google Scholar 

  6. Jarvis, R.A. Quad Vision Ranging for Applications, Proc. 4th Australian Joint Conference on Artificial Intelligence, Nov. 21–23, 1990, Perth, Western Australia, pp.682–698.

    Google Scholar 

  7. Jarvis, R.A. On Distance Transform Based Collision-Free Path Planning for Robot Navigation in Known, Unknown and Time-Varying Environments, invited chapter for a book entitled ‘Advanced Mobile Robots’ edited by Professor Yuan F. Zang World Scientific Publishing Co. Pty. Ltd. 1994, pp.3–31.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Intelligent Robotics Research Centre, Monash University, Wellington Road, 3168, Clayton, vic, Australia

    Ray Jarvis

Authors
  1. Ray Jarvis
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Ray Jarvis .

Rights and permissions

Reprints and permissions

Copyright information

© 2000 Springer-Verlag London Limited

About this paper

Cite this paper

Jarvis, R. (2000). Navigation of a martian rover in very rough terrain. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119404

Download citation

  • DOI: https://doi.org/10.1007/BFb0119404

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation