Site selection and traverse planning to support a lunar polar rover mission: A case study at Haworth Crater

Heldmann, J. L.; Colaprete, A.; Elphic, R. C.; Bussey, B.; McGovern, Andrew; Beyer, R. A.; Lees, David; Deans, M.

doi:10.1016/j.actaastro.2016.06.014

Cited by 31 publications

(8 citation statements)

References 33 publications

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“…While it is true that there could be locally rougher terrain and higher slopes that are not captured by the LOLA data set, the lowest cost path at local scales is still most likely to be found along the lowest cost path determined from orbit, assuming self‐affine topography. Previous studies have all relied on this type of LOLA data for their analyses (Cunningham et al, 2017; Heldman et al, 2016; Lemelin et al, 2014; Speyerer et al, 2016). Of course, hazard cameras on board a rover or human perception will still be needed to navigate around local terrain hazards such as slopes or boulders.…”

Section: Methodsmentioning

confidence: 99%

“…Speyerer et al (2016) developed an optimized traverse-planning algorithm based on terramechanics (Bekker, 1956;Carrier et al, 1991;Terzaghi, 1943) and lighting conditions and applied it to a case study on the highly illuminated rim of Shackleton crater. Heldman et al (2016) outlined a notional traverse at Haworth crater for the Lunar Prospector mission, which has since been reformulated as the Volatiles Investigating Polar Exploration Rover. Cunningham et al (2017) created an advanced energy path planning algorithm and applied it to the Malapert region at the south pole.…”

Section: Introductionmentioning

confidence: 99%

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Accessibility Data Set for Large Permanent Cold Traps at the Lunar Poles

Cannon

Britt

2020

Earth and Space Science

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Many large cold traps exist at both lunar poles where temperatures never exceed 110 K annually, allowing the preservation of water ice. Much has been learned about these regions from orbital measurements, but in situ access is needed to truly understand the abundance, distribution, texture, and chemistry of volatiles that might be present in the regolith. We systematically studied the accessibility of the larger cold traps to wheeled vehicles from nearby staging areas. We calculated minimum energy routes for 20 north pole cold traps and 39 south pole cold traps >50 km 2 in area. At each, accessibility metrics were determined for paths into and out of the cold trap and for round trip paths that return to the same location. We found that 55 of the 59 cold traps are readily accessible without exceeding 25°slopes. Smaller cold traps are generally more accessible than larger ones, with certain exceptions. The accessibility data set is presented graphically, in tabular form, and as ArcGIS shapefiles, all of which can be used to inform site selection and mission planning for future scientific and resource-focused activities. Plain Language Summary There are certain areas at the poles of the Moon which are cold enough to host ice deposits, but they have never been studied directly by robots or astronauts. In this study we determined how easy or difficult it would be for wheeled vehicles to get into and back out of coldest areas at the poles, which are found in topographic lows that sometimes have high slopes all around. We found that most of the cold areas can be driven into and back out of safely to nearby staging areas that have enough sunlight to recharge batteries. The smaller cold areas are generally easier to access, but some of the larger ones have safe, fast routes, especially for entry.

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Section: Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Accessibility Data Set for Large Permanent Cold Traps at the Lunar Poles

Cannon

Britt

2020

Earth and Space Science

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“…Mission concepts currently being considered for the exploration of the lunar and martian surfaces may require a redefinition of the technical approaches once undertaken. Limited time windows for exploration (Heldmann et al, ; Potts et al, ) and ground traverses on the order of hundreds of kilometers (Steenstra et al, ) are some of the novel characteristics defining these mission concepts, corroborating the importance and complexity associated with surface mobility. Scouting farther regions, cresting crater walls, momentarily delving into partially shadowed areas, and overcoming rugged and uneven terrains are some of the challenges being considered within the realm of future surface exploration missions.…”

Section: Fast Surface Explorationmentioning

confidence: 99%

“…The lunar poles are one of the current regions of interest where faster mobility would be of great benefit. Due to the small inclination of Moon's equator to the ecliptic (~1.5°), the poles are frequently affected by shorter periods of optimal solar illumination (~4–6 days; Heldmann et al, ). With today's considered rover speed range (1–10 cm/s), along with the fact that present autonomous navigational approaches require the rover to halt in position for long periods of time (e.g., up to 3 min was required to compute visual odometry on a single pair of images by the Mars Exploration Rovers (MERs), Spirit, and Opportunity; Biesiadecki & Maimone, ), a traverse like the one proposed would required over 80% of the time available for exploration; and over 60% of the mission time if a full 14‐Earth‐day window is considered.…”

Section: Fast Surface Explorationmentioning

confidence: 99%

High‐speed mobility on planetary surfaces: A technical review

Rodríguez-Martínez

Winnendael

Yoshida

2019

Journal of Field Robotics

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Despite the success so far accomplished in the robotic exploration of the Moon and Mars, the constraints associated with newly proposed mission concepts manifest the need for a faster surface prospection. Increasing driving velocities is being considered as a potential solution to the requirements introduced by these missions. This review presents the benefits and foreseeable challenges of using faster locomotive solutions for space exploration. Information is provided regarding the set of missions that would benefit most from faster locomotive capabilities. Starting by understanding the theoretical framework governing the interaction of wheeled robots operating over loose, sandy terrains, we delve into the foundation of Bekker's classic terramechanic equations—the most frequently used method to predict mobile robots off‐road performance. We highlight its limitations and review the efforts that have been made to expand the range of application of these theories to dynamic wheel–soil interactions. We analyze the existing experimental evidence on the effects of increasing traveling velocities under earthbound, off‐road conditions. By paying special attention to previous experiences on the lunar surface, we outline the challenges that the combination of irregular terrains and a reduced‐gravity field may pose to a fast‐moving exploration rover. The principles, mathematical models, experimental evidence, and experiences presented in this review are meant to aid in the identification of poorly understood and insufficiently studied aspects regarding high‐speed extraterrestrial surface mobility.

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“…Therefore, mission plans should be more risk-sensitive regarding landing site selection 7) and traversability analysis. 8) In addition, when the rover is remotely operated, availability of communication windows must be considered.…”

Section: Introductionmentioning

confidence: 99%