BEHAVIOR CONTROL FOR ROBOTIC EXPLORATION OF PLANETARY SURFACES

被引:64
作者
GAT, E [1 ]
DESAI, R [1 ]
IVLEV, R [1 ]
LOCH, J [1 ]
MILLER, DP [1 ]
机构
[1] CALTECH,DEPT MECH ENGN,PASADENA,CA 91125
来源
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1994年 / 10卷 / 04期
基金
美国国家航空航天局;
关键词
D O I
10.1109/70.313099
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 [计算机科学与技术];
摘要
This paper describes a series of robots developed at JPL to demonstrate the feasibility of using a behavior-control approach to control small robots on planetary surfaces. The round-trip light-time delay makes direct teleoperation of a mobile robot on a planetary surface impossible. Planetary rovers must therefore possess a certain degree of autonomy. However, small robots can only support small computers (due mostly to power, not size constraints). Behavior Control provides a means of autonomous control that requires very little computation. The robots described in this paper all used 8-bit, 1-MIP microprocessors with as little as 4 k and no more than 40 k of memory, and extremely simple sensors. Despite these limitations they reliably perform both autonomous navigation and manipulation in both indoor and outdoor rough-terrain environments.
引用
收藏
页码:490 / 503
页数:14
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