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1 Prace Naukowe Politechniki Warszawskiej. Elektronika

1 2014

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Data fusion module for trafficability assessment for FASTER project

Węclewski P., Skocki K.

Prace Naukowe Politechniki Warszawskiej. Elektronika

2014

z. 194, t. 2

703--710

This paper presents overview of the FASTER project and design of trafficability data fusion subsystem in detail. The FASTER project aims to develop system for safer and faster planetary exploration using geotechnical measurements and general terrain trafficability assessment. The scope of the paper is the Data Fusion module, designed by authors as a subsystem responsible for data collection from trafficability sensors, data fusion respecting probabilistic, simplified model of environment and preparation of output trafficability map for the safe path planning support. The fusion concept, using Bayesian filtering and worst case scenario map’s layers integration, system interfaces and simulation test environment are described. Presented scheme is flexible and can be generalized to multi-source data fusion technique for local soil parameters estimation with not-well-known model of soil properties distribution.