Lunar Rover Navigation--Hazards

Lunar Rover Navigation 1996
Laser Hazard Detection


Some possible hazards


Sensing:


Sensor: Accurange 3000

  • Near-infrared laser, 7 mW
  • Resolution < 1 cm in all 3 dimensions
  • Scan available every 25-50 ms
  • Mounted on mast, pointing 45 degrees downward
  • 2.5 m wide laser line on ground 100 cm in front of rover

Verify data acquisition

  • Encoders, temperature
  • Buffer overflow, lost samples, range variance

Detection:


Does elevation at laser line exceed rover capabilities?

Hazards
Terrain
Positive elevation Rocks, boulders, steps in terrain
Negative elevation Ditches, craters, steps in terrain
Stuck on belly Objects larger than ground clearance, possibly on cross slopes

Results:


21 runs at hazards

Includes rocks, craters, pits, slopes, waves.
  • No hazards missed
  • Few late stops
  • Few unnecessary stops; Self-correcting in 0.5-1 sec.
  • Slopes not detected (not hazardous)
  • Waves may cause unnecessary stops
  • 4-5 Hz on 486 DX2 66 MHz
Feature
Hazards detected
Craters5/5
Pits4/4
Rocks3/3
Steps1/1
Rough terrain2/2 (late stops)
Slopes0/2 (not a hazard)
Waves3/4 (unnecessary)


Lunar Rover Navigation 1996 - deano@ri.cmu.edu (last updated in Nov. 1996)
Comments? Suggestions? Requests? Please send e-mail to lri-feedback+@cs.cmu.edu.