Design and field experimentation of a prototype Lunar prospector

  • Authors:

  • David Wettergreen;Scott Moreland;Krzysztof Skonieczny;Dominic Jonak;David Kohanbash;James Teza

  • Affiliations:

  • The Robotics Institute, Carnegie Mellon University,Pittsburgh, PA;The Robotics Institute, Carnegie Mellon University,Pittsburgh, PA;The Robotics Institute, Carnegie Mellon University,Pittsburgh, PA;The Robotics Institute, Carnegie Mellon University,Pittsburgh, PA;The Robotics Institute, Carnegie Mellon University,Pittsburgh, PA;The Robotics Institute, Carnegie Mellon University,Pittsburgh, PA

  • Venue:
  • International Journal of Robotics Research
  • Year:
  • 2010

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Abstract

Scarab is a prototype rover for Lunar missions to survey resources in polar craters. It is designed as a prospector that would use a deep coring drill and apply soil analysis instruments to measure the abundance of elements of hydrogen and oxygen and other volatiles including water. Scarabâ聙聶s chassis can adjust the wheelbase and height to stabilize its drill in contact with the ground and can also adjust posture to better ascend and descend steep slopes. This enables unique control of posture when moving and introduces new planning issues. Scarab has undergone field testing at Lunar-analog sites in Washington and Hawaii in an effort to quantify and validate its mobility and navigation capabilities. We report on results of the experiments in slope ascent and descent and in autonomous kilometer-distance navigation in darkness.