MarsRover-AutoNav-Blackout

Component	Description	Tools/Frameworks
Programming Languages	Core control and algorithm implementation	Python, C++
Robot Middleware	Robot operating system for sensor and actuator integration	ROS, ROS2
Sensor Fusion Methods	Algorithms for integrating multi-sensor data	EKF, UKF Kalman Filters
Perception	Visual and range sensing for terrain and obstacles	OpenCV, LIDAR drivers
Path Planning	Algorithms for dynamic navigation	Custom planners, ROS navigation stack
Simulation & Testing	Environment to test navigation in rough terrain	Gazebo, RViz

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Getting Started

Prerequisites

• ROS or ROS2 installed on your system
• Python 3.8+ and C++17 compatible compiler
• Sensor drivers for LIDAR, IMU, and camera modules

Installation

1. Clone the repository:

   git clone https://github.com/yourusername/mars-rover-autonomous-navigation.git
   cd mars-rover-autonomous-navigation
   

2. Install dependencies:

   rosdep install --from-paths src --ignore-src -r -y
   

3. Build the workspace:

   colcon build
   source install/setup.bash
   

Usage

• Launch simulations in Gazebo using the provided world files.
• Deploy and test sensor fusion and path planning modules on hardware.
• Observe autonomous rover behavior during GPS blackouts in simulation or controlled field tests.

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Backend Database Logging

RoverDB SQLite Interface

The rover uses a lightweight SQLite database (RoverDB) to persist mission telemetry and sensor data for post-mission analysis and debugging. This enables comprehensive data logging without requiring external database servers.

Logged Data Tables

• nav_log: Records navigation events including waypoints, path decisions, obstacle detections, and autonomous maneuvers during GPS blackouts
• sensor_data: Stores timestamped sensor readings from LIDAR, IMU, cameras, and odometry data for sensor fusion validation

Usage in main.py

To integrate database logging in your rover control script:

from rover_db import RoverDB

# Initialize database connection
db = RoverDB('rover_mission.db')

# Log navigation events
db.log_navigation(
    timestamp=time.time(),
    waypoint_id=current_waypoint,
    action='obstacle_avoidance',
    gps_available=False,
    position=(x, y, z)
)

# Log sensor readings
db.log_sensor_data(
    timestamp=time.time(),
    sensor_type='lidar',
    data=lidar_reading,
    confidence=0.95
)

# Close connection when done
db.close()

Database File Location

The SQLite database file is stored in the project root directory as rover_mission.db by default. You can specify a custom path when initializing the RoverDB instance. The database is automatically created if it doesn't exist.

Analyzing Mission Telemetry

Use standard SQLite tools or Python to query logged data:

-- Retrieve all navigation events during GPS blackout
SELECT timestamp, waypoint_id, action, position 
FROM nav_log 
WHERE gps_available = 0 
ORDER BY timestamp DESC;

-- Analyze LIDAR sensor performance
SELECT AVG(confidence) as avg_confidence, COUNT(*) as reading_count
FROM sensor_data 
WHERE sensor_type = 'lidar'
GROUP BY DATE(timestamp);

For Python-based analysis:

import sqlite3
import pandas as pd

conn = sqlite3.connect('rover_mission.db')
df = pd.read_sql_query("SELECT * FROM nav_log", conn)
print(df.describe())
conn.close()

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Future Directions

• Integration of simultaneous localization and mapping (SLAM) for unknown terrain mapping during blackouts.
• Enhanced machine learning algorithms for terrain classification and navigation improvement.
• Development of cooperative multi-rover navigation for complex mission scenarios.
• Extended testing on physical rover platforms and planetary analog sites.

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Acknowledgments & Credits

This project was inspired by pioneering research in autonomous robotics, sensor fusion, and planetary exploration by NASA, Mars Society, and the open-source robotic community. Special thanks to the developers contributing to ROS, Gazebo, and Kalman filtering libraries for robotics.

License

This project is licensed under the MIT License.

Made with passion for space exploration and robotic autonomy.