TY - GEN
T1 - Localization and Autonomous Exploration for Lunar Rover with Only RGBD Sensors
AU - Zhang, Hongying
AU - Mao, Anyuan
AU - Tian, Zechuan
AU - Zhang, Yao
AU - Sun, Yiyong
AU - Hu, Quan
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - This study proposes a systematic control framework of lunar rover for localization and path planning to complete extraterrestrial exploration tasks using only RGBD cameras, with lunar Digital Elevation Map (DEM) available beforehand. The framework contains two main blocks, the path planning algorithm and the localization algorithm. Global path and motion instructions are generated by the path planning part. A∗ algorithm is first used to obtain a global path that keeps an appropriate distance to the impassable area, whereas local trajectory planning generates motion instructions to avoid any collision. The estimation of relative motion is achieved by fusing the pose estimation values of the two RGBD cameras (front and rear ones). To improve the localization accuracy, an absolute localization method is devised using the idea of matching the elevation map projection curve with the real-time captured image curve. Finally, the effectiveness of the algorithm is verified through simulations in Webots.
AB - This study proposes a systematic control framework of lunar rover for localization and path planning to complete extraterrestrial exploration tasks using only RGBD cameras, with lunar Digital Elevation Map (DEM) available beforehand. The framework contains two main blocks, the path planning algorithm and the localization algorithm. Global path and motion instructions are generated by the path planning part. A∗ algorithm is first used to obtain a global path that keeps an appropriate distance to the impassable area, whereas local trajectory planning generates motion instructions to avoid any collision. The estimation of relative motion is achieved by fusing the pose estimation values of the two RGBD cameras (front and rear ones). To improve the localization accuracy, an absolute localization method is devised using the idea of matching the elevation map projection curve with the real-time captured image curve. Finally, the effectiveness of the algorithm is verified through simulations in Webots.
KW - Digital Elevation Map
KW - absolute localization
KW - path planning
KW - relative localization
UR - http://www.scopus.com/inward/record.url?scp=85180127660&partnerID=8YFLogxK
U2 - 10.1109/ICUS58632.2023.10318280
DO - 10.1109/ICUS58632.2023.10318280
M3 - Conference contribution
AN - SCOPUS:85180127660
T3 - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
SP - 972
EP - 977
BT - Proceedings of 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
A2 - Song, Rong
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 IEEE International Conference on Unmanned Systems, ICUS 2023
Y2 - 13 October 2023 through 15 October 2023
ER -