engleski

The Canadian Planetary Emulation Terrain Energy-Aware Rover Navigation Dataset

Future exploratory missions to the Moon and to Mars will involve solar-powered rovers ; careful vehicle energy management is critical to the success of such missions. This article describes a unique dataset gathered by a small, four-wheeled rover at a planetary analog test facility in Canada. The rover was equipped with a suite of sensors designed to enable the study of energy-aware navigation and path planning algorithms. The sensors included a colour omnidirectional stereo camera, a monocular camera, an inertial measurement unit, a pyranometer, drive power consumption monitors, wheel encoders, and a GPS receiver. In total, the rover drove more than 1.2 km over varied terrain at the analog test site. All data is presented in human-readable text files and as standard-format images ; additional Robot Operating System (ROS) parsing tools and several georeferenced aerial maps of the test environment are also included. A series of potential research use cases is described.

Planetary robotics, energy-aware path planning, localization and mapping, terrain assessment, long-term autonomy

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