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Testing for the MMX Rover Autonomous Navigation Experiment on Phobos

Meyer, Lukas and Vayugundla, Mallikarjuna and Kenny, Patrick and Smisek, Michal and Biele, Jens and Maturilli, Alessandro and Müller, Marcus Gerhard and Stürzl, Wolfgang and Schuster, Martin and Bodenmüller, Tim and Wedler, Armin and Triebel, Rudolph (2023) Testing for the MMX Rover Autonomous Navigation Experiment on Phobos. In: 2023 IEEE Aerospace Conference, AERO 2023. IEEE. IEEE Aerospace Conference, 4-11 Mar 2023, Big Sky, Montana, US. doi: 10.1109/AERO55745.2023.10115919. ISBN 978-166549032-0. ISSN 1095-323X.

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Official URL: https://ieeexplore.ieee.org/document/10115919


The MMX rover will explore the surface of Phobos, Mars´ bigger moon. It will use its stereo cameras for perceiving the environment, enabling the use of vision based autonomous navigation algorithms. The German Aerospace Center (DLR) is currently developing the corresponding autonomous navigation experiment that will allow the rover to efficiently explore the surface of Phobos, despite limited communication with Earth and long turn-around times for operations. This paper discusses our testing strategy regarding the autonomous navigation solution. We present our general testing strategy for the software considering a development approach with agile aspects. We detail, how we ensure successful integration with the rover system despite having limited access to the flight hardware. We furthermore discuss, what environmental conditions on Phobos pose a potential risk for the navigation algorithms and how we test for these accordingly. Our testing is mostly data set-based and we describe our approaches for recording navigation data that is representative both for the rover system and also for the Phobos environment. Finally, we make the corresponding data set publicly available and provide an overview on its content.

Item URL in elib:https://elib.dlr.de/194474/
Document Type:Conference or Workshop Item (Speech)
Title:Testing for the MMX Rover Autonomous Navigation Experiment on Phobos
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Meyer, LukasUNSPECIFIEDhttps://orcid.org/0000-0001-9514-8494UNSPECIFIED
Vayugundla, MallikarjunaUNSPECIFIEDhttps://orcid.org/0000-0002-9277-0461UNSPECIFIED
Kenny, PatrickUNSPECIFIEDhttps://orcid.org/0000-0003-1242-0582UNSPECIFIED
Smisek, MichalUNSPECIFIEDhttps://orcid.org/0000-0002-0061-1691UNSPECIFIED
Biele, JensUNSPECIFIEDhttps://orcid.org/0000-0002-7414-829XUNSPECIFIED
Maturilli, AlessandroUNSPECIFIEDhttps://orcid.org/0000-0003-4613-9799UNSPECIFIED
Müller, Marcus GerhardUNSPECIFIEDhttps://orcid.org/0000-0003-4283-6693UNSPECIFIED
Stürzl, WolfgangUNSPECIFIEDhttps://orcid.org/0000-0003-2440-5857UNSPECIFIED
Schuster, MartinUNSPECIFIEDhttps://orcid.org/0000-0002-6983-3719UNSPECIFIED
Bodenmüller, TimUNSPECIFIEDhttps://orcid.org/0000-0003-0899-361XUNSPECIFIED
Wedler, ArminUNSPECIFIEDhttps://orcid.org/0000-0001-8641-0163UNSPECIFIED
Triebel, RudolphUNSPECIFIEDhttps://orcid.org/0000-0002-7975-036XUNSPECIFIED
Date:15 May 2023
Journal or Publication Title:2023 IEEE Aerospace Conference, AERO 2023
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Planetary exploration rover, autonomous navigation, Phobos, Mars Moons eXploration
Event Title:IEEE Aerospace Conference
Event Location:Big Sky, Montana, US
Event Type:international Conference
Event Dates:4-11 Mar 2023
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Project MMX [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Space Operations and Astronaut Training > User center for space experiments (MUSC)
Institute of Planetary Research
Institute for Software Technology
Deposited By: Burkhard, Lukas
Deposited On:15 May 2023 11:45
Last Modified:14 Nov 2023 09:03

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