IPS - an autonomous navigation system for future planetary exploration missions

Abstract

Traditional landing sites for planetary rovers were characterized by relatively benign terrain characteristics (e.g., slopes, roughness), but these sites are not necessarily the most scientifically attractive places. Next generations of planetary exploration missions will feature advanced mobility concepts that focus on close-up or in situ investigations of more challenging regions, e.g., canyons, caves and other sites with difficult topography. Scientific questions linked to such sites rose already from different disciplines, be it astrobiology, geology or geochemistry. As an example, caves on Mars are thought to be unique environments that may enable analyzing habitable conditions, yet their exploration is impossible with current rover designs. Another example are compositionally interesting outcrops high on steep slopes, for example in the Valles Marineris on Mars, which cannot be accessed by wheeled vehicles. In order to explore such spots, innovative mobile robotic systems such as rovers, crawlers, copters, and planes have to be involved. Such robots will need a high degree of autonomy, since they have to move with restricted interaction with any ground station. These robotic systems will have to determine and decide on their own, where they are, where they want to go and which way they will select. This will be a revolutionary step enabling an unprecedented look at the objects of interest. This paper introduces a sensor system for enabling robots to navigate autonomously called IPS (integrated positioning system).