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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
A Tale of Two Rovers: Mission Scenarios for Kilometer-Scale Site Survey
David Thompson and David WettergreenThe Field Robotics Center, Carnegie Mellon
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Agenda
Scarab: Surveying lunar regolith in polar craters Mission scenario
Mobility
Navigation and localization
Zoë: Intelligent surficial mapping Feature detection and classification
Kilometer-scale adaptive site survey
Conclusions
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Technologies for site surveyT
err
ain
Diff
icu
lty
Autonomous Traverse Distance
AutonomousData
Collection
DarkNavigation
Slope and Crater Mobility
RobustLocalization Science
Autonomy
Integrationwith Orbital
Data
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Scarab: lunar mission scenario
Land in crater
Supervised autonomy (polar orbiter relay)
Site Survey of regolith composition, hydrogen content
7 months, 25 drill sites over 25 kilometers
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Mobility requirements
Challenging terrain
extreme slopes loose soil
Navigation and localization in lunar-analog environments
5.0cm/s dark navigation
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
A stable science / drilling platform
270kg mass 250 kg to counter drill
thrust
low CG
high torque
100kg Science payload
1m coring drill
Dark Navigation Sensors
RadioisotopeGenerator Simulator
Avionics
Science Payload
Regolith Drill Core System
Body Raise/Lower
Linkage & Actuator
Hazard Avoidance Sensors
“Differencing” Linkage
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Suspension
Skid steering
Passive terrain matching / body averaging
Actuated rocker arms permit leveling / drilling on slopes
Kneels during drilling operations
improve stability
maximize drilling depth / minimize wasted travel
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Auto-leveling
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Inchworming
Inchworm: lower cycle
compaction resistance
tractive force
Inchworm: raise cycle
Conventional rolling
Theoretical benefitsmax slope: 19 vs. 23 degreesdrawbar pull: 1038 vs 1281N
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Inchworming
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Navigation
Dark navigation with active sensing
Laser light striping
Laser scan merging (courtesy NASA ARC)
Traversability analysis, D* path planning
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
NEPTEC TriDAR
Raster resolution to 512x512
30-degree FOV
accurate geologic maps for drill site selection
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Localization
Wheel odometery is unreliable
Kalman-filtered IMU 3-axis ring laser gyro
3-axis acceleration
Optical velocity sensor with ground lighting
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Field Tests
10h 50m, 1090m (2.8cm/s)
June – Mobility and autonomy testing at Moses lake WA
November – Science payload tests in Hawaii
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Agenda
Scarab: Surveying lunar regolith in polar craters Mission scenario
Mobility
Navigation and localization
Zoë: Intelligent surficial mapping Feature detection and classification
Kilometer-scale adaptive site survey
Conclusions
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Zoë: Surficial Survey Mission
Multiple-kilometer autonomous traverses
1m/s continuous travel in open terrain
Autonomous science feature recognition, data collection, and mapping
Tests at Amboy Crater, Mojave desert, CA
image courtesy Dom Jonak, CMU
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Autonomous VISNIR acquisition
Automatic rock detection
Wide-baseline stereo estimates rock position
Autonomous spectrum classification
wavelength (nm)
0.0
1.0
0.8
0.6
0.4
0.2
850 1350 1850 2350350re
flect
an
cebasalt
sediment
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
MVJ detector for variable lighting
cascade 1
input image
max
h1
h2
hn...
nonrock
h1
h2
hn...
nonrock
cascade 2
h1
h2
hn...
nonrock
cascade m
.
.
.
rock bounding boxes
candidate bounding boxes
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Rock detection and visual servo
SIFT matching recognizes and tracks dozens of targets
Science-relevant maps
Permits visual servo
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Spectrum acquisition
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Tracking performance
50
30
40
20
10
LostTrack
RockSpectra
Miss
MissMiss
Miss
RockSpectra Rock
SpectraRock
Spectra
LostTrack
LostTrack
LostTrack
Detection and tracking: 21 ( 3.9) rock spectra in 40 min
Blind pointing: 0 rock spectra
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Rock detection
10m
N
rocks
final rover position
run 1
run 2
run 3 3.0
2.0
1.0
0.0
run 4
Rock Detection Precision: 90.8% (±2.6, =0.05)
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Adaptive surficial mapping
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Adaptive surficial mapping
“Gaussian process” terrain model
Site survey informed by surface and orbital data
Maximum-entropy sampling chooses optimal observation sites
Spatial inference
?
Cross-sensor inference
?
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Inference Result 450m autonomous traverse
Extrapolates by interpreting orbital images
Discovers map parameters on the fly
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Informative path planning
Science-driven
Adds robustness to execution uncertainty
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Recovery from Navigation Error
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Previously reported at iSAIRAS 2008 – Thompson, Wettergreen
Fidelity of Reconstructed Maps
Fixed, transect: 74% (±0.09) Fixed, coverage pattern: 75% (±0.05) Adaptive, low-res orbital: 81% (±0.03) Adaptive, high-res orbital: 87% (±0.01)
0.9
0.8
0.7
0.6
0.5
0 50 100 150 200 250 300number of returned features
reco
nstr
uctio
n ac
cura
cy
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Conclusions
Mobility improvements facilitate new operational modes involving kilometer-scale site survey
Future work Selective data return (image
analysis and spatial statistics)
Data fusion for science and navigation (DEMs, orbital and surface images)
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ICRA Planetary Rover Workshop / 19 May 2008 / D. Thompson / Carnegie Mellon University
Thanks!
Field Robotics Center: David Wettergreen, Red Whittaker, David Kohanbash, Paul Bartlett, Dom Jonak, Jason Zigler
Johnson, Glenn, NORCAT, ARC
Scarab: NASA Human-Robot Systems research program, grants NNX08-AJ99G (Robert Ambrose) and NNX07-AE30G (John Caruso).
Zoë: NASA ASTEP NNG0-4GB66G (David Lavery)