Enhanced Mars Rover Navigation Techniques

Robust navigation through rocky terrain by small mobile robots is important for maximizing science return from upcoming missions to Mars. We are addressing this problem at multiple levels through the development of intelligent sequencing, sensor constrained path planning, natural terrain visual localization, and real-time state estimation. Each of these techniques will be described, and their complementary aspects discussed. Experimental results are provided from implementation on our Mars rover prototype operating in realistic scenarios. 1 Introduction Launching in 2003 and again in 2005, NASA's Mars Sample Return (MSR) spacecraft will place two science rovers on the surface of the planet. Each rover will be the primary sample acquisition system for the mission, venturing out from the lander to core rocks and place instruments against them. Mission constraints will restrict these surface operations to less than 90 days, with communication only twice per day. Therefore, autonomous op..