Autonomous Navigation and Mapping System for MRPTA Rover

Abstract

Initiated and financed by the Canadian Space Agency, Micro-Rover Platform with Tooling Arm (MRPTA) project has targeted the development of a robotic system with remote control and autonomous navigation capabilities for testing a large variety of analogous planetary missions. Although developed for planetary exploration, the navigation system is highly suitable to such areas of application as construction and in mining. Autonomous navigation system is capable of moving the platform to predefined position(s)/orientation(s) while continuously mapping the terrain, assessing its traversability and choosing most appropriate path to follow. Designed according to the JAUS (Joint Architecture for Unmanned Systems) framework, the system consists of several interconnected components. Following components are of particular importance: Pose Estimator (PE), Terrain Evaluator (TE), Map Manager (MP), and Path Planner (PP). The PE uses a minimal sensor configuration consisting of an azimuth gyroscope, inclinometer and wheel odometry. The PE provides reliable pose estimates in spite of pronounced slippage by employing extensive use of fused data. The TE uses a nodding laser scanner which continuously sweeps the area in front of the platform and constructs a "traversability grid" (TG) of the surrounding area. Multiple TGs are constantly constructed along the platform motion path are combined into a terrain map maintained by the MP. The PP uses this map to compute a motion path Obtained path is executed by the motion controller and remains current until it is contradicted by the most recent map -at which point it is re-planned. This paper addresses integration issues, lessons learned and also outlines the possible applications for construction and mining.

Uncertainty-Based Vibration/Gyro Composite Planetary Terrain Mapping

“…Li et al [11] purposed a topological terrain estimate of the Spirit near Gusev Crater based on beam correction and generated a digital elevation map based on Ortho Maps. In 2013, the MRPTA (Micro-Rover Platform with Tooling Arm) project initiated by the Canadian Space Agency [12] realized the minimum sensor configuration-based terrain construction, proposed a local grid representation centered on the rover and used the map manager achieve the fusion management of measurements at different times. All of these works helped to achieve a globally optimized terrain representation.…”

Traversability based obstacle avoidance path-planning and path-following control for lunar rover

“…As a 3-D path-planning method which can handle sensor measurement error and terrain uncertainty, Morphin has won widespread attention [7][8][9]. However, it remains necessary to improve traversability analysis theory to make it suitable for additional environmental perception sensors, complex terrains and to reflect the rover moving capability completely.…”