Advanced Self-Localization and Navigation for Mobile Robots in Extraterrestrial Environments  

作　　者：Juergen Rossmann Christian Schlette Markus Emde Bjoern Sondermann 

机构地区：[1]Institute for Man-Machine Interaction, RWTH Aachen University, Aachen 52074, Germany

出　　处：《Computer Technology and Application》2011年第5期344-353,共10页计算机技术与应用（英文版）

摘　　要：Self-localization is one of the most important aspects for using mobile robots in unstructured environments. In this paper, the authors introduce a new approach for a self-localization and navigation unit for mobile platforms in extraterrestrial environments, based on the authors＂ successful results in self-localization of forestry machines on earth. The presented approach is developed from a highly modular concept, which allows a simple but efficient adaption to specific applications by just substituting some scenario dependent components. In this paper, the authors will explain the general concept and the terrestrial implementation so far. On this basis, the authors will demonstrate and discuss the necessary adaptions to the general concept in order to handle the different conditions on extraterrestrial surfaces.

关 键 词：SELF-LOCALIZATION sensor fusion landmark detection forestry environment extraterrestrial environments 

分 类 号：TU113.666[建筑科学—建筑理论] TP242[自动化与计算机技术—检测技术与自动化装置]