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A Novel Methodology for Autonomous Planetary Exploration Using Multi-Robot Teams

Sarah Swinton, Jan-Hendrik Ewers, Euan McGookin, David Anderson, Douglas Thomson

Abstract

One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data from multiple sources (HiRISE orbiter imaging, probability distribution maps, and on-board rover sensors) to find efficient exploration routes in Jezero crater. A map is generated, consisting of a 3D terrain model, traversability analysis, and probability distribution map of points of scientific interest. A three-stage mission planner generates an efficient route, which maximises the accumulated probability of identifying points of interest. A 4D RRT* algorithm is used to determine smooth, flat paths, and prioritised planning is used to coordinate a safe set of paths. The above methodology is shown to coordinate safe and efficient rover paths, which ensure the rovers remain within their nominal pitch and roll limits throughout operation.

A Novel Methodology for Autonomous Planetary Exploration Using Multi-Robot Teams

Abstract

One of the fundamental limiting factors in planetary exploration is the autonomous capabilities of planetary exploration rovers. This study proposes a novel methodology for trustworthy autonomous multi-robot teams which incorporates data from multiple sources (HiRISE orbiter imaging, probability distribution maps, and on-board rover sensors) to find efficient exploration routes in Jezero crater. A map is generated, consisting of a 3D terrain model, traversability analysis, and probability distribution map of points of scientific interest. A three-stage mission planner generates an efficient route, which maximises the accumulated probability of identifying points of interest. A 4D RRT* algorithm is used to determine smooth, flat paths, and prioritised planning is used to coordinate a safe set of paths. The above methodology is shown to coordinate safe and efficient rover paths, which ensure the rovers remain within their nominal pitch and roll limits throughout operation.
Paper Structure (15 sections, 8 equations, 10 figures)

This paper contains 15 sections, 8 equations, 10 figures.

Table of Contents

  1. INTRODUCTION
  2. MULTI-ROVER SYSTEM
  3. ENVIRONMENT MAPPING
  4. 3D Terrain Model
  5. Traversability Analysis
  6. Probability Distribution Map
  7. MISSION PLANNING
  8. Target Generation
  9. Path Planning
  10. Coordination
  11. RESULTS
  12. Generation of Safe Paths: Single Rover
  13. Generation of Safe Paths: Rover Team
  14. Exploration Efficiency
  15. CONCLUSIONS

Figures (10)

  • Figure 1: Autonomous exploration system architecture
  • Figure 2: Rocker bogie runt rAover
  • Figure 3: 3D terrain model of the selected mission site
  • Figure 4: Traversability analysis of the selected mission site. Traversable terrain is shown in white, high risk terrain is shown in red, and impassable terrain is shown in black
  • Figure 5: A random PDM ($p(\vec{x})$)
  • ...and 5 more figures