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Buse, Fabian and Baroukh, J. and Barthelmes, Stefan and Bertrand, Jean and Bodenmüller, Tim and Chalon, Maxime and Lagabarre, Sandra and Murdoch, Naomi and Skibbe, Juliane and Smisek, Michal and Tardivel, Simon and Vayugundla, Mallikarjuna and Vernazza, Pierre (2023) Mobility on the Surface of Phobos for the MMX Rover - Simulation-aided Movement planning. In: 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA). 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), 2023-10-18 - 2023-10-20, Leiden, Niederlande.
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Official URL: https://atpi.eventsair.com/astra2023/programme
Abstract
The MMX Rover, recently named IDEFIX, will be the first wheeled robotic system to be operated in a milli-g environment. The mobility in this environment, particularly in combination with the interrupted communication schedule and the activation of on-board autonomous functions such as attitude control requires efficient planning. The Mobility Group within the MMX Rovers Team is tasked with proposing optimal solutions to move the rover safely and efficiently to its destination so that it may achieve its scientific goals. These movements combine various commands to the locomotion system and to the navigation systems developed by both institutions. In the mission's early phase, these actions will rely heavily on manual driving commands to the locomotion system until the rover behavior and environment assumptions are confirmed. Planning safe and efficient rover movements is a multi-step process. This paper focuses on the challenges and limitations in sequencing movements for a Rover on Phobos in the context of the MMX Mission. The context in which this process takes place is described in terms of available data and operational constraints.
| Item URL in elib: | https://elib.dlr.de/200072/ | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
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| Document Type: | Conference or Workshop Item (Speech) | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Title: | Mobility on the Surface of Phobos for the MMX Rover - Simulation-aided Movement planning | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Authors: |
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| Date: | 2023 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Journal or Publication Title: | 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA) | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Refereed publication: | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Open Access: | Yes | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Status: | Published | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Keywords: | Exploration; Phobos; Mars; Rover; Locomotion; Mobility | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Event Title: | 17th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA) | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Event Location: | Leiden, Niederlande | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Event Type: | international Conference | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Event Start Date: | 18 October 2023 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Event End Date: | 20 October 2023 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Organizer: | ESA | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| 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 System Dynamics and Control > Space System Dynamics Institute of Robotics and Mechatronics (since 2013) > Analysis and Control of Advanced Robotic Systems Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Deposited By: | Buse, Fabian | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Deposited On: | 30 Nov 2023 17:12 | ||||||||||||||||||||||||||||||||||||||||||||||||||||||||
| Last Modified: | 24 Apr 2024 21:00 |
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- Mobility on the Surface of Phobos for the MMX Rover - Simulation-aided Movement planning. (deposited 30 Nov 2023 17:12) [Currently Displayed]
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