See how NASA’s perseverance can avoid collision and laser breakdown
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To avoid this, perseverance uses its Rover collision model flight software to check for upcoming movements and laser emissions and to autonomously stop any activity before a collision could occur. In order to check the collision of the robot arm, “perseverance” projects the movement of the next robot arm into the future and checks whether any point in the movement will collide with the rover’s body. If the predicted movement has no unexpected collisions, it will allow the movement to begin. Sometimes, however, the manipulator does need to be very close to the hardware or even touch other parts of the rover’s body, such as exchanging drill bits or caching samples during docking. The rover knows when contacts are intentional and allows them to occur. When “perseverance” uses aegis to independently select airborne scientific targets, it uses the rover collision model to filter out any targets that may lead to collision, and then selects a target for supercam aiming.
Normally, the operation team will send an order to the rover every sun day. If some of the activities are not carried out as planned, the “perseverance” needs to protect itself. If the drill encounters even a small fault, such as the 374th sun day, the manipulator may still be in front of the rover and touch the target unexpectedly. The next morning, in the continuation of the same plan, the planned LIBS launch will be directed to a rock that is now blocked by the robot arm. On the 375TH solar day, this was gracefully avoided by the rover collision model.
Collision checks are performed autonomously, so the operation team usually does not execute any explicit instructions. Unless an action fails the collision check during the ground simulation and needs to be adjusted, the operation team may not even notice it. The rover collision model is one of the flight software modules designed and programmed by the mission team. As of the 460th solar day, the probe has carried out more than 64000 collision inspections on Mars without errors. It has reported collisions at expected places.
At present, the perseverance has arrived at hogwallow flats. It will be checking out more collisions as it conducts some exciting scientific investigations.