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The LRU Rover for Autonomous Planetary Exploration and its Success in the SpaceBotCamp Challenge

Schuster, Martin J. and Brand, Christoph and Brunner, Sebastian and Lehner, Peter and Reill, Josef and Riedel, Sebastian and Bodenmüller, Tim and Bussmann, Kristin and Büttner, Stefan and Dömel, Andreas and Friedl, Werner and Grixa, Iris and Hellerer, Matthias and Hirschmüller, Heiko and Kassecker, Michael and Marton, Zoltan Csaba and Nissler, Christian and Ruess, Felix and Suppa, Michael and Wedler, Armin (2016) The LRU Rover for Autonomous Planetary Exploration and its Success in the SpaceBotCamp Challenge. In: 2016 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC). IEEE International Conference on Autonomous Robot Systems and Competitions, 04-06 May 2016, Braganca, Portugal.

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Abstract

The task of planetary exploration poses many challenges for a robot system, from weight and size constraints to sensors and actuators suitable for extraterrestrial environment conditions. As there is a significant communication delay to other planets, the efficient operation of a robot system requires a high level of autonomy. In this work, we present the Light Weight Rover Unit (LRU), a small and agile rover prototype that we designed for the challenges of planetary exploration. Its locomotion system with individually steered wheels allows for high maneuverability in rough terrain and the application of stereo cameras as its main sensor ensures the applicability to space missions. We implemented software components for self-localization in GPS-denied environments, environment mapping, object search and localization and for the autonomous pickup and assembly of objects with its arm. Additional high-level mission control components facilitate both autonomous behavior and remote monitoring of the system state over a delayed communication link. We successfully demonstrated the autonomous capabilities of our LRU at the SpaceBotCamp challenge, a national robotics contest with focus on autonomous planetary exploration. A robot had to autonomously explore a moon-like rough-terrain environment, locate and collect two objects and assemble them after transport to a third object - which the LRU did on its first try, in half of the time and fully autonomous.

Item URL in elib:https://elib.dlr.de/105409/
Document Type:Conference or Workshop Item (Speech)
Title:The LRU Rover for Autonomous Planetary Exploration and its Success in the SpaceBotCamp Challenge
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Schuster, Martin J.martin.schuster (at) dlr.deUNSPECIFIED
Brand, ChristophChristoph.Brand (at) dlr.deUNSPECIFIED
Brunner, SebastianSebastian.Brunner (at) dlr.deUNSPECIFIED
Lehner, PeterPeter.Lehner (at) dlr.deUNSPECIFIED
Reill, JosefJosef.Reill (at) dlr.deUNSPECIFIED
Riedel, SebastianSebastian.Riedel (at) dlr.dehttps://orcid.org/0000-0002-3655-2486
Bodenmüller, TimTim.Bodenmueller (at) dlr.deUNSPECIFIED
Bussmann, Kristinkristin.bussmann (at) dlr.deUNSPECIFIED
Büttner, Stefanstefan.buettner (at) dlr.deUNSPECIFIED
Dömel, Andreasandreas.doemel (at) dlr.deUNSPECIFIED
Friedl, Wernerwerner.friedl (at) dlr.deUNSPECIFIED
Grixa, Irisiris.grixa (at) dlr.deUNSPECIFIED
Hellerer, MatthiasMatthias.Hellerer (at) dlr.deUNSPECIFIED
Hirschmüller, Heikoheiko.hirschmueller (at) dlr.deUNSPECIFIED
Kassecker, Michaelmichael.kassecker (at) dlr.deUNSPECIFIED
Marton, Zoltan Csabazoltan.marton (at) dlr.deUNSPECIFIED
Nissler, ChristianChristian.Nissler (at) dlr.deUNSPECIFIED
Ruess, Felixfelix.ruess (at) dlr.deUNSPECIFIED
Suppa, MichaelMichael.Suppa (at) dlr.deUNSPECIFIED
Wedler, ArminArmin.Wedler (at) dlr.deUNSPECIFIED
Date:May 2016
Journal or Publication Title:2016 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:Autonomous Mobile Robots, Planetary Exploration, Robotic Challenge, Manipulation, Navigation, SLAM, Mapping, Task Control
Event Title:IEEE International Conference on Autonomous Robot Systems and Competitions
Event Location:Braganca, Portugal
Event Type:international Conference
Event Dates:04-06 May 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Institute of Robotics and Mechatronics (since 2013) > Perception and Cognition
Institute of System Dynamics and Control
Deposited By: Schuster, Martin
Deposited On:27 Jul 2016 14:10
Last Modified:31 Jul 2019 20:02

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