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Fusing Global Navigation With Computer-Aided Remote Driving Of Robotic Vehicles

Very few existing robotic vehicle systems today have the ability to plan a path and then execute it. Subsystems to do parts of this problem do exist. Automatic route planners can plan a path for a theoretical vehicle. Vehicle control systems such as Computer-Aided Remote Driving (CARD)' can drive a vehicle with limited operator intervention. The combination of route planning with the vehicle control system is the concept of Navigation Fusion. Work is under way at the Jet Propulsion Laboratory to fuse the functions of a route planner and a planetary rover prototype which is piloted using CARD. In the CARD system, the operator chooses a path for the vehicle using wide-baseline stereo images returned from cameras on the vehicle. The robotic vehicle then executes that path under computer control without operator intervention. The route is planned on a Symbolics LISP machine and is then displayed to the operator as a desired path. The concept of Navigation Fusion involves displaying this desired path in perspective on the operator's 3-dimensional display. It requires knowledge of the relationship between the images returned from the vehicle and any information about of the movement area (or map). The operator will modify this path as necessary to avoid obstacles. The vehicle will then be instructed to execute the path. The fusion of global route planning and local path execution allows more intelligent planning and execution of robotic vehicle movements.