Hazard Detection and Avoidance in Lunar Conditions through the use of a Time of Flight camera

Detta är en Uppsats för yrkesexamina på avancerad nivå från KTH/Skolan för informations- och kommunikationsteknik (ICT)

Författare: Sebastian Nilsson; [2017]

Nyckelord: ;

Sammanfattning: The field of Space Exploration has traditionally been the realm of government agencies, mainly due to the high costs and low material gains from such ventures. However, this is changing and private ventures in the field are increasing. This report details work done as part of Team HAKUTO, a participant in the Google Lunar XPRIZE competition. This report details work on a Time of Flight camera used for autonomous hazard detection and avoidance in a lunar environment. The method with which to achieve this was determined previously to the beginning of this project. Due to the limited computational and memory resources available during the mission, it was decided to use a fairly simple method which identified each potentially interesting feature as a Region of Interest. These Regions of Interest were then evaluated by their overall physical dimensions in order to determine whether or not they would pose a threat to the Rover. The work methodology was largely focused on repeated optimizations and improvements. These efforts were then evaluated against standardized testing with logged environmental data. The main focus of the report is on the optimization of code to meet strict Real-Time limitations as well as improvements to the Hazard Classification Conditions used to classify potential hazards. It also contains discussions about the results and potential future work to be carried out in the HAKUTO project, as well as lightly touching upon the desired outcome of the HAKUTO project.

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