PDF(731 KB)
Article
Article
Autonomous Navigation Method for Mars Rover Using Distributed EKF-SLAM Assisted by Sun Sensor
- PEI Fujun1,2, YAN Hong1,2, ZHU Mingjun1,2
Author information
+
1. Faculty of Information Technology,Beijing University of Technology,Beijing 100124,China;
2. Beijing Key Laboratory of Computational Intelligence and Intelligent System,Beijing 100124,China
Show less
History
+
Received |
Revised |
17 Nov 2017 |
12 Feb 2018 |
Issue Date |
|
20 May 2022 |
|
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
This is a preview of subscription content, contact
us for subscripton.
References
[1] 宁晓琳,房建成. 一种基于UPF的月球车自主天文导航方法[J]. 宇航学报,2006,27(4):648-653
NING X L,FANG J C. A new method of autonomous celestial navigation for lunar rover and analysis of precision[J]. Journal of Astronautics,2006,27(4):648-653
[2] 裴福俊,居鹤华,崔平远. 基于天文与速度联合观测的月球车自主导航方法[J]. 宇航学报,2009,30(2):486-491
PEPEI F J,JU H H,CUI P Y. Autonomous navigation method with celestial and velocity joint observation for lunar rover[J]. Journal of Astronautics,2009,30(2):486-491
[3] FURGALE P,ENRIGHT J,BARFOOT T. Sun sensor navigation for planetary rovers:theory and field testing[J]. IEEE Transactions on Aerospace & Electronic Systems,2011,47(3):1631-1647
[4] MATTHIES L,MARK M,ANDREW J. Computer vision on Mars[J]. International Journal of Computer Vision,2007,75(1):67-92
[5] SMITH R C,CHEESEMAN P. On the representation and estimation of spatial uncertainly[M]. [S. l.]:Sage Publications,Inc.,1986.
[6] SIM R, GRIFFIN M, SHYR A, et al. Scalable real-time vision based SLAM for planetary rovers[C]// IEEE Iros Workshop on Robot Vision for Space Applications. Edinburgh, Scotland, IEEE:2005.
[7] TONG C H,BARFOOT T D,DUPUIS é. Three-dimensional SLAM for mapping planetary work site environments[J]. Journal of Field Robotics,2012,29(3):381-412
[8] YADKURI F F,KHOSROWJERDI M J. Methods for Improving the linearization problem of Extended Kalman Filter[J]. Journal of Intelligent & Robotic Systems,2015,78(3-4):485-497
[9] JIA S,WANG K,LI X. Mobile robot simultaneous localization and mapping based on a monocular camera[J]. Journal of Robotics,2016,(2016-6-2),2016,2016:1-11.
[10] WALTER M R,EUSTICE R M,LEONARD J J. Exactly sparse extended information filters for feature-based SLAM[J]. International Journal of Robotics Research, 2007, 26(4): 335-359.
[11] HAVANGI R,TAGHIRAD H D,NEKOUI M A,et al. A square root unscented FastSLAM with improved proposal distribution and resampling[J]. IEEE Transactions on Industrial Electronics,2013,61(5):2334-2345
[12] WON D H,CHUN S,SUNG S,et al. INS/vSLAM system using distributed particle filter[J]. International Journal of Control Automation & Systems,2010,8(6):1232-1240
[13] PEI F,WU M,ZHANG S. Distributed SLAM using improved particle filter for mobile robot localization[J]. Scientific World Journal,2014,2014:239531
[14] 王春宇,梁鹤,吕政欣,等. 双轴模拟式太阳敏感器的误差源分析[J]. 空间控制技术与应用,2016,42(1):43-47
[15] HUANG S,DISSANAYAKE G. Convergence analysis for extended Kalman filter based SLAM[C]// IEEE International Conference on Robotics and Automation. [S. l.]:IEEE,2006:412-417.
[16] PERERA L D L,WIJESOMA W S,ADAMS M D. SLAM with joint sensor bias estimation:closed form solutions on observability,error bounds and convergence rates[J]. IEEE Transactions on Control Systems Technology,2010,18(3):732-740