Arid
Architecture of a Surface Exploration Traverse Analysis and Navigational Tool
Norheim, Johannes1; Hoffman, Jeffrey1; Newman, Dava1; Cohen, Tamar E.2; Lees, David S.3; Deans, Matthew C.4; Lim, Darlene S. S.5
通讯作者Norheim, Johannes
会议名称IEEE Aerospace Conference
会议日期MAR 03-10, 2018
会议地点Big Sky, MT
英文摘要

Human path planning has typically been performed manually, especially within the context of planetary Extravehicular Activities (EVAs) - whether historically (Apollo program) or simulated (e.g., NASAs Desert Research and Technology Studies (DRATS)). However, human ability to explore and extract relevant information for path planning from datasets such as birds-eye imagery or hillshaded terrain is limited. This can lead to plans that are more time and energy intensive than anticipated, or plans that are revealed to be hard to traverse during mission execution. When combined with time delays on Mars, where the expert path planners would be on Earth, there is a clear need for rapidly re-planning under contingencies. Surface Exploration Traverse Analysis and Navigational Tool(SEXTANT) addresses these challenges through automation of the traverse planning process. The tool has been used on several case studies and most recently it was successfully adopted and deployed during the field-based Mars Exploration Analog mission: NASA BASALT (Biologic Analog Sciences Associated with Lava Terrains) research project. This paper describes SEXTANTs software architecture, and critical changes that have been made for it to adapt to a real use. It brings together three components: an environmental model (terrain data), an explorer model (with energetic cost functions) and a solver or path planner. Notably one solver for cost functions in general, based on the A* algorithm is discussed, and the paper goes into more detail on how to use the A* algorithm with large map datasets, planning when raw data resolution varies, and planning when computational performance is paramount. The latter point is especially critical for real-time re-planning in the field under potential contingencies. Finally the paper brings forth how to use SEXTANT in practicality, and the flexibility it offers to interface with most other applications.


来源出版物2018 IEEE AEROSPACE CONFERENCE
ISSN1095-323X
出版年2018
EISBN978-1-5386-2014-4
出版者IEEE
类型Proceedings Paper
语种英语
国家USA
收录类别CPCI-S
WOS记录号WOS:000474397401043
WOS类目Engineering, Aerospace
WOS研究方向Engineering
资源类型会议论文
条目标识符http://119.78.100.177/qdio/handle/2XILL650/307809
作者单位1.MIT, 77 Massachusetts Ave, Cambridge, MA 02139 USA;
2.NASA, SGT Inc, Ames Res Ctr, MS 269-3, Moffett Field, CA 94035 USA;
3.Carnegie Mellon Univ, NASA, Ames Res Ctr, MS 269-3, Moffett Field, CA 94035 USA;
4.NASA, Ames Res Ctr, MS 269-3, Moffett Field, CA 94035 USA;
5.NASA, BAERI, Ames Res Ctr, Moffett Field, CA 94035 USA
推荐引用方式
GB/T 7714
Norheim, Johannes,Hoffman, Jeffrey,Newman, Dava,et al. Architecture of a Surface Exploration Traverse Analysis and Navigational Tool[C]:IEEE,2018.
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