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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, 2016-05-04 - 2016-05-06, Braganca, Portugal. doi: 10.1109/ICARSC.2016.62.

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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 AuthorsAuthor's ORCID iDORCID Put Code
Schuster, Martin J.UNSPECIFIEDhttps://orcid.org/0000-0002-6983-3719UNSPECIFIED
Brand, ChristophUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Brunner, SebastianUNSPECIFIEDhttps://orcid.org/0000-0001-9359-3703UNSPECIFIED
Lehner, PeterUNSPECIFIEDhttps://orcid.org/0000-0002-3755-1186139070387
Reill, JosefUNSPECIFIEDhttps://orcid.org/0000-0003-4092-063XUNSPECIFIED
Riedel, SebastianUNSPECIFIEDhttps://orcid.org/0000-0002-3655-2486UNSPECIFIED
Bodenmüller, TimUNSPECIFIEDhttps://orcid.org/0000-0003-0899-361XUNSPECIFIED
Bussmann, KristinUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Büttner, StefanUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Dömel, AndreasUNSPECIFIEDhttps://orcid.org/0000-0003-3694-5201UNSPECIFIED
Friedl, WernerUNSPECIFIEDhttps://orcid.org/0000-0003-3002-7274UNSPECIFIED
Grixa, IrisUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Hellerer, MatthiasUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Hirschmüller, HeikoUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Kassecker, MichaelUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Marton, Zoltan CsabaUNSPECIFIEDhttps://orcid.org/0000-0002-3035-493XUNSPECIFIED
Nissler, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-4361-9041UNSPECIFIED
Ruess, FelixUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Suppa, MichaelUNSPECIFIEDhttps://orcid.org/0000-0002-7362-9534UNSPECIFIED
Wedler, ArminUNSPECIFIEDhttps://orcid.org/0000-0001-8641-0163UNSPECIFIED
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
DOI:10.1109/ICARSC.2016.62
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 Start Date:4 May 2016
Event End Date:6 May 2016
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - Vorhaben Multisensorielle Weltmodellierung (old)
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:24 Apr 2024 20:10

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