Terrain-aware traverse planning for a Mars sample return rover

• DOI: 10.1080/01691864.2021.1955000
• Publication Date: 2021-07-27T19:19:32Z
• Authors: G. Hedrick; Y. Gu
• Keywords: Traverse; Mars rover; Mars landing

NASA and ESA are proposing to retrieve samples from Mars with a rover that will need drive long distances, beyond what is seen on images previous downlinks, complete its mission in less than 200 Martian days. This paper proposes planning method support Sample Return by integrating terrain information into the phase. The first step consists of predicting slip speed using orbital data. When tested data, ranges predicted an expected velocity map successfully drawn. second involves traverse for driving objective sol, based speed. While driving, monitors converting wheel information, projected forward confirm or refute behavior, update replan if necessary. Simulation showed successful updates given new replanning when needed. If monitoring insufficient traversability, third describes instrument would be deployed compute intrinsic parameters, then propagated ahead Experiments results close parameters soils.