INTERACTIVE AUTONOMY FOR NAVIGATION AND PILOTING OF PLANETARY ROVERS

摘要

A hierarchical functional control architecture for navigation and piloting of a planetary rover is presented together with a medium level autonomous operation mode called Interactive Autonomy. The main features of the control architecture implementation are an extensive fuzzy world model and fuzzy path planning on Navigation layer, and the use of fuzzy behaviors on Piloting layer. This implementation approach is considered realistic and feasible w.r.t. the practical implementation constraints of a real Moon mission. Experimental results are shown for the path planning algorithm (implementaed in MATLAB), and piloting behaviors (implemented in C), using the Robuter mobile robot as a testbed.