A new Autonomous Navigation Technique
- Paper number
IAC-07-D3.2.09
- Author
Dr. An Kai, China
- Year
2007
- Abstract
Deep space exploration has an important effect in science and national economy. Since the rambler used in deep space exploration is controlled by ground station, its slow response rate and walking speed will be a main trouble in deep space exploration. The technique of computer vision can be applied to autonomous navigation of a rambler, but as far as the present case is concerned, two cameras must be used simultaneously to record the image of the vision field. Through matching of two images, the height in every discrete point in vision field can then be determined according to some algorithm. However, the calculation of matching is so complex that the walking speed of the rambler has to be limited. A new technique of rambler automatic navigation, combing laser with camera to substitute the function of image matching, is proposed in this paper. This technique can decrease detection time obviously and identify the terrain of the vision field speedly. A simulation example given in this paper shows the feasibility of the technique and correctness of its algorithm. Accordingly, its application in deep space exploration will enhance the speed of the automatic navigation greatly. Key words: Deep space exploration; rambler; automatic navigation
- Abstract document