Design and field experimentation of a prototype Lunar prospector

Author:

Wettergreen David1,Moreland Scott2,Skonieczny Krzysztof2,Jonak Dominic2,Kohanbash David2,Teza James2

Affiliation:

1. The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA,

2. The Robotics Institute, Carnegie Mellon University, Pittsburgh, PA

Abstract

Scarab is a prototype rover for Lunar missions to survey resources in polar craters. It is designed as a prospector that would use a deep coring drill and apply soil analysis instruments to measure the abundance of elements of hydrogen and oxygen and other volatiles including water. Scarab’s chassis can adjust the wheelbase and height to stabilize its drill in contact with the ground and can also adjust posture to better ascend and descend steep slopes. This enables unique control of posture when moving and introduces new planning issues. Scarab has undergone field testing at Lunar-analog sites in Washington and Hawaii in an effort to quantify and validate its mobility and navigation capabilities. We report on results of the experiments in slope ascent and descent and in autonomous kilometer-distance navigation in darkness.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modeling and Simulation,Software

Reference40 articles.

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