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Experiences with operations and autonomy of the Mars PathfinderMicrorover
Mishkin, A.H.
Morrison, J.C.
Nguyen, T.T.
Stone, H.W.
Cooper, B.K.
Wilcox, B.H.
Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA;
This paper appears in: Aerospace Conference, 1998. Proceedings., IEEE
Publication Date: 21-28 Mar 1998
Volume: 2,
On page(s): 337-351 vol.2
Meeting Date: 03/21/1998 - 03/28/1998
Location: Snowmass at Aspen, CO, USA
ISBN: 0-7803-4311-5
References Cited: 4
INSPEC Accession Number: 6090719
Digital Object Identifier: 10.1109/AERO.1998.687920
Current Version Published: 2002-08-06
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The Microrover Flight Experiment (MFEX) is a NASA OACT (Office of
Advanced Concepts and Technology) flight experiment which, integrated
with the Mars Pathfinder (MPF) lander and spacecraft system, landed on
Mars on July 4, 1997. In the succeeding 30 sols (1 sol=1 Martian day),
the Sojourner microrover accomplished all of its primary and extended
mission objectives. After completion of the originally planned extended
mission, MFEX continued to conduct a series of technology experiments,
deploy its alpha proton X-ray spectrometer (APXS) on rocks and soil, and
image both terrain features and the lander. This mission was conducted
under the constraints of a once-per-sol opportunity for command and
telemetry transmissions between the lander and Earth operators. As such,
the MFEX rover was required to carry out its mission, including terrain
navigation and contingency response, under supervised autonomous
control. For example, goal locations were specified daily by human
operators; the rover then safely traversed to these locations. During
traverses, the rover autonomously detected and avoided rock, slope, and
drop-off hazards, changing its path as needed before turning back
towards its goal. This capability to operate in an unmodeled
environment, choosing actions in response to sensor input to accomplish
requested objectives, is unique among robotic space missions to date
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Citing Documents
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