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  • Hybrid Routing Algorithms for Navigation Control of a Semi-Autonomous Robotic Platform

    Paper number

    IAC-13,A3,2D,2.p1,x19581

    Author

    Mr. Aleksander Milshteyn, Structures Pointing And Control Engineering (SPACE) University Research Center, United States

    Coauthor

    Mr. Airs Lin, Structures Pointing and Controls Engineering (SPACE) University Research Center, United States

    Coauthor

    Mr. Evan Tsai, Structures Pointing And Control Engineering (SPACE) University Research Center, United States

    Coauthor

    Mr. Garth Herman, Structures Pointing And Control Engineering (SPACE) University Research Center, United States

    Coauthor

    Dr. Charles Liu, Structures Pointing And Control Engineering (SPACE) University Research Center, United States

    Coauthor

    Dr. Helen Boussalis, Structures Pointing And Control Engineering (SPACE) University Research Center, United States

    Year

    2013

    Abstract
    Past and current advances in planetary exploration are crucial milestones that will potentially lead to human interplanetary travel, construction of interplanetary outposts, with possibility of a gradual interplanetary colonization. Before proceeding with creation of bases for humans on Moon, there is a serious need in the continuous scientific study of its surfaces and atmosphere. The robotic monitoring approach is currently undertaken by NASA, European Space Agency, and other space-exploration capable countries in order to collect, analyze and continuously monitor the environmental data from the Moon's surface and atmosphere utilizing a network of geophysical stationary nodes under the International Lunar Network project.
       Based on the long-term studies of the Moon's surface and atmosphere, the Structures Pointing and Control Engineering (SPACE) University Research Center (URC) at California State University of Los Angeles (CSULA) proposes a design of the semi-autonomous robotic platform, which can serve as a stepping stone to the mobile lunar robotic network. The semi-autonomous control incorporates a mixed-control mode, which assigns certain tasks to run in automated execution mode, while reserving critical or complex tasks for remote user-controlled execution.  The platform will be using three-level Hybrid Routing Algorithms to accurately navigate through assigned lunar terrains and provide scientists with collected environmental data. The data will be relayed to a Host Computing Station and tagged on the OpenGL-generated map co-ordinates for further back-end processing.
       The Hybrid Routing Algorithm Model provides navigation for the Robotic Platform by accessing multi-source map data for information, making the platform aware of its distant surroundings as well as the adjacent obstacles. There are three encapsulated levels of maps: with Layer-1 covering area of a square kilometer. It is divided into a hundred Layer-2 maps, each covering an area of 100 square meters. Each Layer-2 is further divided into hundred Layer-3 maps, each covering 10 square meters. The navigational process for this platform involves a hybrid model of routing algorithms, which will rely on the aerial obstacle information(e.g. obtained from Lunar Reconnaissance Orbiter) for the outer A* algorithm path-finding navigation in Layer-1 and Layer-2, while dynamically identifying obstacles using on-board depth sensor equipment and calculating target routes with the D* algorithm (Dynamic A*) for the Layer-3 navigation. The robot travels to its destination in the three encapsulated coordinate levels: with respect to Layer-1 Map, with respect to Layer-2 Map, and while dynamically determining the Layer-3 path based on real-time encountered obstacles.
    Abstract document

    IAC-13,A3,2D,2.p1,x19581.brief.pdf

    Manuscript document

    (absent)