This paper describes the recent development and field-testing of a science-class exploration rover prototype.The integrated prototype is a fusion of two programs funded by the Canadian Space Agency (CSA); aplanetary-representative science-class mobility platform (CBR) and an advanced autonomous guidance, navigationand control system (AIRGNC). The integration of these two projects culminated in a fully autonomous analoguefield deployment to test the combined system in Mars-like conditions. The Canadian Breadboard Rover (CBR) is asix wheeled planetary rover prototype capable of supporting a range of payload elements on representative terrain ina variety of science-class Analogue Moon and Mars mission scenarios. The 21 degree-of-freedom vehicle design isbased on a ruggedized version of the Phase B1 ExoMars rover breadboard design previously developed by MDA forthe European Space Agency. Testing on Mars-like terrain at the University of Toronto Mars Dome in Toronto,Canada demonstrated strong flight-representative vehicle performance, from traverse speeds, slope capability andobstacle negotiation, to lander stowability and deployment capability. The Autonomous, Intelligent, and RobustGuidance, Navigation, and Control for Planetary Rovers (AIRGNC) system has features that include: optimal use offeatures from stereo images as visual landmarks, use of visual motion estimation (VME) as feedback to close thepath tracking loop, and use of a long-range/wide-field-of-view active 3D sensor to extract fixed landmarks forenabling VME observability, thereby improving accuracy. Field testing in Mars-like terrains in the Mojave Desert,under highly variable lighting conditions, demonstrated strong average localization accuracy. Moreover, EnhancedIMU-corrected odometry proved reliable and showed good accuracy in all test locations, including loose sand dunes,during a total traverse distance of 7km, under both fully autonomous and tele-operated control. The integrated CBRand AIRGNC systems were recently tested together under a Planetary Sample Return scenario near SP Crater inArizona, USA. The integrated system was operated remotely from the CSA in Montreal, Canada using bothtele-operation and autonomous control under the direction of a remote science team led by the University of WesternOntario. CBR ensured the required mobility over the rugged terrain while AIRGNC provided situational awareness,3D modeling for target selection and science image acquisition. Continued and future work includes an interfaceupgrade for compatibility with future Canadian developments and exciting new CSA-funded development programsfor Mars and Moon analogue rover systems to demonstrate end-to-end mission operations including science, in-situresource prospecting and crewed exploration.
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