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首页> 外文会议>International astronautical congress;IAC 2008 >SELECTING AND COMBINING NAVIGATION AND LOCOMOTION 'BREADBOARDS' TO COMPLETE AN INTEGRATED MARS ROVER PROTOTYPE
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SELECTING AND COMBINING NAVIGATION AND LOCOMOTION 'BREADBOARDS' TO COMPLETE AN INTEGRATED MARS ROVER PROTOTYPE

机译：选择和组合导航和机车“面包板”以完成完整的火星探测器原型

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摘要

Two of the key challenges in developing an autonomous inter-planetary rover are selecting and testing the algorithms that will determine the navigable path across the planet and the locomotion system that will actually perform the traverse. There is a continuous trade off between algorithm complexity, processing performance, reliability and performance accuracy. As part of Phase B1 development of the ExoMars Rover Vehicle project, candidate locomotion system designs and navigation algorithms were prototyped as separate "breadboard" projects. Two Locomotion Breadboard designs were manufactured, and the CNES robotic autonomy software suite EDRES was selected to form the basis of the Navigation Breadboard. This paper will outline the principles of these designs and algorithms and discuss the challenges of bringing the two breadboards together, along with other hardware, to create an Integrated Mars Rover Vehicle Breadboard for field trials.
机译：开发自主行星际漫游车的两个关键挑战是选择和测试算法，这些算法将确定横跨行星的可导航路径以及将实际执行遍历的运动系统。在算法复杂性，处理性能，可靠性和性能准确性之间存在一个持续的权衡。作为ExoMars Rover Vehicle项目B1阶段开发的一部分，候选运动系统设计和导航算法已原型化为单独的“面包板”项目。制造了两种Locomotion Breadboard设计，并选择了CNES机器人自主软件套件EDRES来构成Navigation Breadboard的基础。本文将概述这些设计和算法的原理，并讨论将两个面包板与其他硬件结合在一起以创建集成的Mars Rover车辆面包板以进行现场试验所面临的挑战。

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