This page (revision-54) was last changed on 2021-10-02 05:56 by Murray Altheim

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Mars Rover
MarsRover

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At line 3 changed 2 lines
I've been collecting ideas for building a Mars Rover. This can easily cost a few thousand dollars so I'm not quite sure
I'm willing to fund such a venture, but it's fun to dream (and plan).
I've been collecting ideas for building a Mars Rover. This can easily cost a few thousand dollars and I'm not quite sure yet
that I'm willing to fund such a venture, but it's fun to dream (and plan).
At line 8 added one line
I recently came upon a JPL paper that goes into quite a lot of detail about the Mars Exploration Rovers (MER), Spirit and Opportunity*. These were the two rovers that landed on Mars in 2004 and ran until 2010 and 2018, resp., a very long time past their planned mission of 90 days. This is probably the most detailed description I've found of a NASA rover's software.
At line 10 added 33 lines
* ''[The Mars Exploration Rover Surface Mobility Flight Software: Driving Ambition|https://www-robotics.jpl.nasa.gov/publications/Mark_Maimone/biesiadecki_maimone06.pdf]'' \\ Jeffrey J. Biesiadecki and Mark W. Maimone, Jet Propulsion Laboratory, Pasadena, CA USA \\
[https://trs.jpl.nasa.gov/bitstream/handle/2014/40221/06-0060.pdf] (alternate link) \\
[https://ieeexplore.ieee.org/document/1655723] (if you are an IEEE member)
The paper's abstract is:
%%blockquote
In this paper we describe the software that has driven these rovers
more than a combined 11,000 meters over the Martian surface,
including its design and implementation, and summarize current
mobility performance results from Mars.
%%
! Contents
# Introduction
# MER Flight Software Architecture
# Mobility Manager Software
# Low-Level Driving
# Autonomous Driving
#* Primary Autonomous Capabilities
#* Terrain Assessment Overview
#* Robust Stereo Image Processing
#* Terrain Assessment
Another related document from the same team is Chapter 3 of "Intelligence
for Space Robotics":
* ''Surface Navigation and Mobility Intelligence on the Mars Exploration Rovers'', \\ Mark Maimone, Jeffrey Biesiadecki, Edward Tunstel, Yang Cheng, Chris Leger, NASA Jet Propulsion Laboratory, USA \\ [https://www-robotics.jpl.nasa.gov/publications/Mark_Maimone/05_Chapter3_final.pdf]
This also goes into the mechanics of the rocker-bogie suspension, use of sensors, basic mobility and control modes, autonomous navigation, path selection, etc.
This page (revision-54) was last changed on 2021-10-02 05:56 by Murray AltheimTop