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Towards Autonomous Mobile Robots for the Exploration of Steep Terrain

  • Braden StenningEmail author
  • Lauren Bajin
  • Christine Robson
  • Valentin Peretroukhin
  • Gordon R. Osinski
  • Timothy D. Barfoot
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 105)

Abstract

Steep, natural terrain offers excellent opportunities for scientific investigations into the composition and history of Mars and other planetary bodies. In this paper, we present a prototype tethered robot, vScout (vertical scout), capable of operating in steep, rugged terrain. The primary purpose of this vehicle is to support field geologists conducting research on cliffs, in canyons, and on crater walls. However, the long-term vision is to develop a system suitable for planetary exploration (and more diverse terrestrial applications). Unlike other systems for exploration in steep terrain, vScout has demonstrated autonomous operation on steep surfaces by making use of a network of reusable paths and visual teach & repeat. Here we describe the first vScout prototype and our experiences with it. We also outline some challenges and the directions we intend to take with this research.

Keywords

Path Planning Stereo Camera Iterative Learning Control Rough Terrain Autonomous Mobile Robot 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Braden Stenning
    • 1
    Email author
  • Lauren Bajin
    • 1
  • Christine Robson
    • 1
  • Valentin Peretroukhin
    • 1
  • Gordon R. Osinski
    • 1
    • 2
  • Timothy D. Barfoot
    • 1
  1. 1.Institute for Aerospace StudiesUniversity of TorontoTorontoCanada
  2. 2.Depts. of Earth Science, Physics and AstronomyUniversity of Western OntarioLondonCanada

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