Systems Integration with Autonomous Navigation of the Lunar Rover Mini for a Space Demo Mission

Abstract

Over the last few years, the area of robotic exploration has been growing very quickly. There are already various rover models on the Moon and Mars for planetary exploration purposes, among other functions. However, launching these missions is often too expensive and complex. Therefore, it is sought at DLR for ways to create low-cost prototypes for experimental testing, algorithms development, and even usage for educational lectures at many institutions. This work, the Lunar Rover Mini, shows an approach to the development and integration of modular systems at the Robotics and Mechatronics Center. Such prototype, based on the ExoMars rover, will be used as a testing platform to execute three driving modes on terrains similar to those on the Moon and Mars, which can be found in the Vulcano island and on artificially-created testbeds. The systems, as well as the data pipeline, will be validated and evaluated. It will be determined if the LRM can be remotely and manually operated and if the autonomous navigation featured successful obstacle avoidance and path planning to reach a final objective.