Abstract
This paper presents complementary flyover and surface exploration for reconnaissance of planetary point destinations, like skylights and polar crater rims, where local 3D detail matters. Recent breakthroughs in precise, safe landing enable spacecraft to touch down within a few hundred meters of target destinations. These precision trajectories provide unprecedented access to bird’s-eye views of the target site and enable a paradigm shift in terrain modeling and path planning. High-angle flyover views penetrate deep into concave features while low-angle rover perspectives provide detailed views of areas that cannot be seen in flight. By combining flyover and rover sensing in a complementary manner, coverage is improved and rover trajectory length is reduced by 40 %. Simulation results for modeling a lunar skylight are presented.
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Notes
- 1.
The code for this operation is a vectorized version of an implementation by Jesus Mena-Chalco, available on MATLAB Central: http://www.mathworks.com/matlabcentral/fileexchange/26852
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Acknowledgments
This work is partially supported by the NASA Innovative Advanced Concepts program under contract NNX11AR42G. The authors would also like to thank NVIDIA for donation of a machine that was used in the high-fidelity simulation of terrain done for this work.
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Jones, H.L., Wong, U., Peterson, K.M., Koenig, J., Sheshadri, A., Whittaker, W.L.R. (2014). Complementary Flyover and Rover Sensing for Superior Modeling of Planetary Features. In: Yoshida, K., Tadokoro, S. (eds) Field and Service Robotics. Springer Tracts in Advanced Robotics, vol 92. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-40686-7_28
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