Autonomous Exploration of Small Bodies Toward Greater Autonomy for Deep Space Missions

Area of Science:

• Robotics and Autonomous Systems
• Planetary Science and Exploration
• Spacecraft Navigation and Control

Background:

• Autonomous exploration of unpredictable environments, such as small bodies, is crucial for robotic missions.
• Current robotic missions require advanced capabilities for approach, proximity operations, and surface exploration of celestial bodies.

Purpose of the Study:

• To present an estimation framework for autonomous approach and landing on small bodies.
• To detail a multi-phase perception/estimation pipeline for characterizing and reaching a target body from millions of kilometers to its surface.
• To introduce a SmallSat design facilitating autonomous surface operations.

Main Methods:

• A multi-phase perception/estimation pipeline combining state-of-the-art and novel algorithms.
• Centroid and light-curve algorithms for relative trajectory and rotation estimation.
• Shape-from-silhouette and feature tracking for pole orientation and shape refinement.
• Coarse and dense 3D reconstruction for hazard assessment and landing site identification.

Main Results:

• Simulations demonstrated the feasibility of recovering relative body motion and shape using only onboard measurements.
• The framework successfully operated from thousands of kilometers down to 20 km from a hypothetical small body.
• The system achieved autonomous estimation of unknown body properties without human input.

Conclusions:

• The developed estimation framework is feasible for autonomous small-body exploration and landing.
• Onboard measurements and estimation techniques can autonomously characterize celestial bodies for safe approach and landing.
• Further algorithm refinement is ongoing for the final landing phases.