Sensing: |
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Sensor: Accurange 3000
- Near-infrared laser, 7 mW
- Resolution < 1 cm in all 3 dimensions
- Scan available every 25-50 ms
- Mounted on mast, pointing 45 degrees downward
- 2.5 m wide laser line on ground 100 cm in front of rover
Verify data acquisition
- Encoders, temperature
- Buffer overflow, lost samples, range variance
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Detection: |
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Does elevation at laser line exceed rover capabilities?
| Hazards |
Terrain |
| Positive elevation |
Rocks, boulders, steps in terrain |
| Negative elevation |
Ditches, craters, steps in terrain |
| Stuck on belly |
Objects larger than ground clearance,
possibly on cross slopes |
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Results: |
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21 runs at hazards
Includes rocks, craters, pits, slopes, waves.
- No hazards missed
- Few late stops
- Few unnecessary stops; Self-correcting in 0.5-1 sec.
- Slopes not detected (not hazardous)
- Waves may cause unnecessary stops
- 4-5 Hz on 486 DX2 66 MHz
|
| Feature |
Hazards detected |
| Craters | 5/5 |
| Pits | 4/4 |
| Rocks | 3/3 |
| Steps | 1/1 |
| Rough terrain | 2/2 (late stops) |
| Slopes | 0/2 (not a hazard) |
| Waves | 3/4 (unnecessary) |
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