Diverse Traversability Mapping Using Hybrid Vision System for Lunar Rover

作     者：顾嘉俊 曹其新 庄惠敏 GU Jia-jun,CAO Qi-xin,ZHUANG Hui-min(Robotics Institute,Shanghai Jiaotong University,Shanghai 200240,China)

作者机构：Robotics InstituteShanghai Jiaotong University 

出 版 物：《Journal of Shanghai Jiaotong university(Science)》 (上海交通大学学报（英文版）)

年 卷 期：2010年第15卷第6期

页      面：749-755页

核心收录：

学科分类：08[工学] 0824[工学-船舶与海洋工程] 082401[工学-船舶与海洋结构物设计制造] 

基　　金：the Development Fund for Primary Projects of China's Ministry of Education (No. 708035) 

主　　题：autonomous navigation machine vision mapping traversability assessment 

摘      要：Autonomous functions including mapping and path planning are very important to ensure effcient exploration and safe navigation of unmanned rover. Conventional navigation schemes based on equipments such as GPS and magnetic sensors have been proven to be ineffective on lunar surface,while sophisticated dead reckoning approach lacks accuracy in loose soil due to slippage. In this paper,we propose a hybrid vision system(HVS) which consists of one stereo and one omnidirectional vision sensor,attempting to integrate the advantages of diverse vision systems. The hierarchical mapping reconstructs environment through HVS in different resolutions and structures,named qualitative,rough and detailed map. These maps are employed for path planning which navigates the rover towards specified destinations autonomously,avoiding obstacles in its way. The HVS aims at providing more effcient and safe navigation. Simulations and experiments demonstrate the functionality and advantage of our approach.