/Field Experiments in Mobility and Navigation with a Lunar Rover Prototype

Field Experiments in Mobility and Navigation with a Lunar Rover Prototype

David Wettergreen, Dominic Jonak, David Kohanbash, Scott Jared Moreland, Spencer Spiker and James Teza
Conference Paper, Field and Service Robotics, July, 2009

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

Scarab is a prototype rover for lunar missions to survey resources, particularly water ice, in polar craters. It is designed as a prospector that would use a deep coring drill and apply soil analysis instruments. Its chassis can transform to stabilize its drill in contact with the ground and can also adjust posture to ascend and descent steep slopes. Scarab has undergone field testing at lunar analogue sites in Washington and Hawaii in an effort to quantify and validate its mobility and navigation capabilities. We report on results of experiments in slope ascent and descent and in autonomous kilometer-distance navigation in darkness.

BibTeX Reference
@conference{Wettergreen-2009-10269,
author = {David Wettergreen and Dominic Jonak and David Kohanbash and Scott Jared Moreland and Spencer Spiker and James Teza},
title = {Field Experiments in Mobility and Navigation with a Lunar Rover Prototype},
booktitle = {Field and Service Robotics},
year = {2009},
month = {July},
keywords = {Scarab, Lunar, Lunar Analogue,drilling, ISRU, rover, autonomous, mobility, navigation, survey},
}
2017-09-13T10:41:06+00:00