Towards Autonomous Planetary Exploration

• DOI: 10.1007/s10846-017-0680-9
• Publication Date: 2017-11-07T11:11:53Z
• Authors: Martin J. Schuster; Sebastian G. Brunner; Kristin Bussmann; Stefan Büttner; Andreas Dömel; Matthias Hellerer; Hannah Lehner; Peter Lehner; Oliver Porges; Josef Reill; Sebastian Riedel; Mallikarjuna Vayu...; Bernhard Vodermayer; Tim Bodenmüller; Christoph Brand; Werner Friedl; Iris Grixa; Heiko Hirschmüller; Michael Kaßecker; Zoltán-Csaba Márton; Christian Nissler; Felix Ruess; Michael Suppa; Armin Wedler
• Keywords: Planetary surface

Planetary exploration poses many challenges for a robot system: From weight and size constraints to extraterrestrial environment conditions, which constrain the suitable sensors actuators. As distance other planets introduces significant communication delay, efficient operation of system requires high level autonomy. In this work, we present our Lightweight Rover Unit (LRU), small agile rover prototype that designed planetary exploration. Its locomotion with individually steered wheels allows maneuverability in rough terrain stereo cameras as its main ensure applicability space missions. We implemented software components self-localization GPS-denied environments, autonomous mapping well computer vision, planning control modules localization, pickup assembly objects manipulator. Additional high-level mission facilitate both behavior remote monitoring state over delayed link. successfully demonstrated capabilities LRU at SpaceBotCamp challenge, national robotics contest focus on A had autonomously explore an unknown Moon-like terrain, locate collect two assemble them after transport third object – did first try, half time fully autonomously. The next milestone ongoing development is upcoming analogue perform scientific experiments Moon site located volcano.