Baldauf, Niklas und Lubiniecki, Toni und Lakatos, Kristin und Panagiotopoulos, Nickolaos (2023) Learning-based motion control of a rover on unknown ground. In: ESA 12th International Conference on Guidance, Navigation & Control Systems (GNC). ESA. 12th International Conference on Guidance, Navigation & Control Systems (GNC), 2023-06-12 - 2023-06-16, Sopot, Poland. doi: 10.5270/esa-gnc-icatt-2023-061.
PDF
7MB |
Offizielle URL: https://www.esa-gnc.eu/paper/?paper_id=23061
Kurzfassung
This paper presents the current status and scientific approaches from the ESA project DeLeMIS. Within that, e:fs and DLR Robotics investigate state-of-the-art approaches of self-learning methods to enable improvements in planetary space missions. The main objective of DeLeMIS is the autonomous navigation of a rover on unknown terrain without human intervention. To this end, algorithms from the latest research in the Artificial Intelligence (AI) and control engineering community are used for environmental perception and behaviour control. On the one hand, the rover is supposed to learn the ground conditions of different areas and their boundaries, both through camera inputs and through the interaction of the wheels with the ground. On the other hand, the system is intended to learn the best behaviour and the most appropriate strategy for its motion and navigation across different ground surfaces, taking into account safety and robustness aspects.
elib-URL des Eintrags: | https://elib.dlr.de/204036/ | ||||||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Konferenzbeitrag (Vortrag, Poster) | ||||||||||||||||||||
Zusätzliche Informationen: | Open paper: https://www.esa-gnc.eu/papers-open/sopot2023/61.pdf | ||||||||||||||||||||
Titel: | Learning-based motion control of a rover on unknown ground | ||||||||||||||||||||
Autoren: |
| ||||||||||||||||||||
Datum: | Juni 2023 | ||||||||||||||||||||
Erschienen in: | ESA 12th International Conference on Guidance, Navigation & Control Systems (GNC) | ||||||||||||||||||||
Referierte Publikation: | Nein | ||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||
DOI: | 10.5270/esa-gnc-icatt-2023-061 | ||||||||||||||||||||
Verlag: | ESA | ||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||
Stichwörter: | machine learning, motion control, planetary exploration | ||||||||||||||||||||
Veranstaltungstitel: | 12th International Conference on Guidance, Navigation & Control Systems (GNC) | ||||||||||||||||||||
Veranstaltungsort: | Sopot, Poland | ||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||
Veranstaltungsbeginn: | 12 Juni 2023 | ||||||||||||||||||||
Veranstaltungsende: | 16 Juni 2023 | ||||||||||||||||||||
Veranstalter : | ESA | ||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Terrestrische Assistenz-Robotik | ||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) > Analyse und Regelung komplexer Robotersysteme Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||||||
Hinterlegt von: | Lakatos, Kristin | ||||||||||||||||||||
Hinterlegt am: | 30 Apr 2024 10:09 | ||||||||||||||||||||
Letzte Änderung: | 30 Apr 2024 10:09 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags