Planetary rover developments supporting Mars exploration, sample return and future human-robotic colonization

摘要

We overview our recent research on planetary mobility. Products of this effort include the Field Integrated Design & Operations rover (FIDO), Sample Return Rover (SRR), reconfigurable rover units that function as an All Terrain Explorer (ATE), and a multi-Robot Work Crew of closely cooperating rovers (RWC). FIDO rover is an advanced technology prototype; its design and field testing support NASA's development of long range, in situ Mars surface science missions. Complementing this, SRR implements autonomous visual recognition, navigation, rendezvous, and manipulation functions enabling small object pick-up, handling, and precision terminal docking to a Mars ascent vehicle for future Mars Sample Return. ATE implements on-board reconfiguration of rover geometry and control for adaptive response to adverse and changing terrain, e.g., traversal of steep, sandy slopes. RWC implements coordinated control of two rovers under closed loop kinematics and force constraints, e.g., transport of large payloads, as would occur in robotic colonies at future Mars outposts. RWC is based in a new extensible architecture for decentralized control of, and collective state estimation by multiple heterogeneous robotic platforms - CAMPOUT; we overview the key architectural features. We have conducted experiments with all these new rover system concepts over variable natural terrain. For each of the above developments, we summarize our approach, some of our key experimental results to date, and our future directions of planned development.