Lunar Rover Navigation 1996
System Architecture

Safeguarding
Modules:

Stereo:

• Grab images and vehicle pose
• Calculate depth map for use in path planning

Laser:

• Sweep an arc across current path
• Watch for insurmountable obstacles directly ahead at short range

Arbiter

• Select output command based on votes by modules and on operating mode
• Operating modes:
  • Teleoperation: User is boss. Full user control, minimal safetychecks.
  • Safeguarded teleoperation: User is partner. Votes from both user and obstacle avoidance. Equivalent to autonomous operation if user issues no commands.

Obstacle Avoidance

• Select stereo window based on speed and lookahead
• Incorporate stereo terrain data
• Compute traversability statistics
• Integrate traversability measures along paths
• Choose most traversable path (steering angle)

Safeguarding
Module
Performance: