Rover localization results for the FIDO rover

This paper describes the development of a two-tier state estimation approach for NASA/JPL's FIDO Rover that utilizes wheel odometry, inertial measurement sensors, and a sun sensor to generate accurate estimates of the rover's position and attitude throughout a rover traverse. The state estimation approach makes use of a linear Kalman filter to estimate the rate sensor bias terms associated with the inertial measurement sensors and then uses these estimated rate sensor bias terms to compute the attitude of the rover during a traverse. The estimated attitude terms are then combined with the wheel odometry to determine the rover's position and attitude through an extended Kalman filter approach. Finally, the absolute heading of the vehicle is determined via a sun sensor which is then utilized to initialize the rover's heading prior to the next planning cycle for the rover's operations. This paper describes the formulation, implementation, and results associated with the two-tier state estimation approach for the FIDO rover.

[1]  Gaurav S. Sukhatme,et al.  Robust localization using relative and absolute position estimates , 1999, Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289).

[2]  Randel Lindemann,et al.  Mobility Sub-System for the Exploration Technology Rover , 1999 .

[3]  Brett Kennedy,et al.  Design and analysis of a sun sensor for planetary rover absolute heading detection , 2001, IEEE Trans. Robotics Autom..

[4]  Kenneth Turkowski,et al.  Creating image-based VR using a self-calibrating fisheye lens , 1997, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[5]  Johann Borenstein,et al.  Accurate mobile robot dead-reckoning with a precision-calibrated fiber-optic gyroscope , 2001, IEEE Trans. Robotics Autom..

[6]  Eric T. Baumgartner,et al.  An autonomous vision-based mobile robot , 1994, IEEE Trans. Autom. Control..

[7]  S B Skaar,et al.  Initial results in the development of a guidance system for a powered wheelchair. , 1996, IEEE transactions on rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society.

[8]  Donald Bickler,et al.  Roving Over Mars , 1998 .

[9]  Hugh F. Durrant-Whyte,et al.  Inertial navigation systems for mobile robots , 1995, IEEE Trans. Robotics Autom..

[10]  E. Baumgartner In-situ exploration of Mars using rover systems , 2000 .

[11]  Ashitey Trebi-Ollennu,et al.  State estimation and vehicle localization for the FIDO rover , 2000, SPIE Optics East.

[12]  Marie-José Aldon,et al.  Mobile robot attitude estimation by fusion of inertial data , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[13]  Lee F. Sword,et al.  New planetary rovers for long-range Mars science and sample return , 1998, Other Conferences.