Development of onboard system of automous machine vision of "Marsokhod"
This paper describes the works on creation onboard machine vision system for autonomous control of motion, developed by NPO S.A. Lavochkin for Russian rover Marsokhod within the scope of the international Martian project from the end 1980 years to 1998. This system provides the rover with autonomous patch planning and with autonomous motion ability, extending thus its range on the Martian surface. The description of the used methods of the mathematical modeling and tests is resulted, the structure of the international cooperation is described. The developments, presented in this paper, were priority and are of interest for the future works.