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Electrical and Computer Engineering
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
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Advanced Navigation For Planetary Vehicles Applying An Approximate Mapping Technique, Timothy R. Mcjunkin
Advanced Navigation For Planetary Vehicles Applying An Approximate Mapping Technique, Timothy R. Mcjunkin
All Graduate Theses and Dissertations, Spring 1920 to Summer 2023
This thesis provides a method for compressing the information provided by JPL Mars rover obstacle sensors by creating an approximate map of the terrain around the vehicle. This thesis demonstrates that this method provides adequate information for a human operator to negotiate complex obstacles fields.
By dividing the area around the vehicle into regions and classifying each region as to how dangerous (impassable), the sensor data can be accumulated with minimal overhead. The terrain in each region has a number between zero and one, with zero meaning completely passable and one meaning completely impassable. A continuum of possible values between …