Slip estimation model for traversability-based motion planning of cargo rover on extraterrestrial surface

Area of Science:

• Robotics
• Planetary Science
• Mechanical Engineering

Background:

• Developing cargo rovers for in-situ resource utilization (ISRU) presents unique challenges, including traversing rough terrains with variable payloads.
• Existing research and technologies for these specific challenges, such as estimating wheel slippage on varying mass rovers, are limited.

Purpose of the Study:

• To propose a parametric model for estimating wheel slippage in resource-transporting rovers with varying mass.
• To introduce a new traversability assessment model incorporating the proposed slip estimation.
• To enhance motion planning for autonomous rovers operating in resource utilization scenarios.

Main Methods:

• Developed a parametric model for wheel slippage estimation based on slope angle, rover heading angle, payload mass, and wheel angular velocity.
• Validated the estimation model using multi-body dynamics analysis datasets.
• Integrated the slip estimation model into a traversability assessment model and a sampling-based motion planner.

Main Results:

• The parametric model accurately estimates wheel slippage for rovers with changing mass.
• The integrated traversability assessment and motion planning model demonstrated improved safety in simulations.
• The motion planner successfully enabled rovers to reach targets irrespective of cargo payload variations.

Conclusions:

• The proposed parametric wheel slippage model is effective for resource-transporting rovers.
• Incorporating slip estimation into motion planning enhances rover safety and mission success.
• This technology advancement is crucial for the development of autonomous ISRU robotics.