Research Progress of Non-geometric Hazard Perception for Unmanned Planetary Rover

Abstract

Improving the environment perception ability is a prerequisite for improving the intelligence and autonomy of the rover. Non-geometric hazard perception is the key part of autonomous navigation. Reviewing the development of the non-geometric hazard perception of the rover，it shows that the key aspects of the non-geometric hazard perception are hazard estimation and hazard prediction. Non-geometric hazard estimation and prediction include wheel-soil model，wheel sinkage estimation，slip ratio estimation，identification of soil parameters and terrain classification，and the relevant research on theses aspects are introduced and analyzed. The future research on non-geometric hazard perception should focus on the optimization of wheel-soil interaction mechanics model，multi-source information fusion and the application of artificial intelligence technology. Finally，a slip ratio prediction method based on soil parameter identification is described.

Keywords

planetary rover / environment perception / non-geometric hazard / slip prediction