Autonomous Navigation Based on Sequential Images for Planetary Landing in Unknown Environments

2017 ◽  
Vol 40 (10) ◽  
pp. 2587-2602 ◽  
Author(s):  
Chao Xu ◽  
Dayi Wang ◽  
Xiangyu Huang
Keyword(s):  
Autonomous Navigation ◽  
Unknown Environments ◽  
Planetary Landing ◽  
Sequential Images

Autonomous navigation for reconfigurable snake-like robots in challenging, unknown environments

2017 ◽  
Vol 89 ◽  
pp. 123-135 ◽  
Author(s):  
L. Pfotzer ◽  
S. Klemm ◽  
A. Roennau ◽  
J.M. Zöllner ◽  
R. Dillmann
Keyword(s):  
Autonomous Navigation ◽  
Unknown Environments

Crater Edge-based Flexible Autonomous Navigation for Planetary Landing

2018 ◽  
Vol 72 (3) ◽  
pp. 649-668
Author(s):  
Yang Tian ◽  
Meng Yu ◽  
Meibao Yao ◽  
Xiangyu Huang
Keyword(s):  
Pose Estimation ◽  
Autonomous Navigation ◽  
State Of The Art ◽  
Estimation Accuracy ◽  
Illumination Direction ◽  
Crater Detection ◽  
Planetary Landing ◽  
Novel Method ◽  
Edge Based ◽  
Navigation Method

In this paper, a novel method for autonomous navigation for an extra-terrestrial body landing mission is proposed. Based on state-of-the-art crater detection and matching algorithms, a crater edge-based navigation method is formulated, in which solar illumination direction is adopted as a complementary optical cue to aid crater edge-based navigation when only one crater is available. To improve the pose estimation accuracy, a distributed Extended Kalman Filter (EKF) is developed to encapsulate the crater edge-based estimation approach. Finally, the effectiveness of proposed approach is validated by Monte Carlo simulations using a specifically designed planetary landing simulation toolbox.

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