Logo
ScienceStack
Table of Contents
Fetching ...
Sign In

Breadboarding the European Moon Rover System: discussion and results of the analogue field test campaign

Cristina Luna, Augusto Gómez Eguíluz, Jorge Barrientos-Díez, Almudena Moreno, Alba Guerra, Manuel Esquer, Marina L. Seoane, Steven Kay, Angus Cameron, Carmen Camañes, Philipp Haas, Vassilios Papantoniou, Armin Wedler, Bernhard Rebele, Jennifer Reynolds, Markus Landgraf

Abstract

This document compiles results obtained from the test campaign of the European Moon Rover System (EMRS) project. The test campaign, conducted at the Planetary Exploration Lab of DLR in Wessling, aimed to understand the scope of the EMRS breadboard design, its strengths, and the benefits of the modular design. The discussion of test results is based on rover traversal analyses, robustness assessments, wheel deflection analyses, and the overall transportation cost of the rover. This not only enables the comparison of locomotion modes on lunar regolith but also facilitates critical decision-making in the design of future lunar missions.

Breadboarding the European Moon Rover System: discussion and results of the analogue field test campaign

Abstract

This document compiles results obtained from the test campaign of the European Moon Rover System (EMRS) project. The test campaign, conducted at the Planetary Exploration Lab of DLR in Wessling, aimed to understand the scope of the EMRS breadboard design, its strengths, and the benefits of the modular design. The discussion of test results is based on rover traversal analyses, robustness assessments, wheel deflection analyses, and the overall transportation cost of the rover. This not only enables the comparison of locomotion modes on lunar regolith but also facilitates critical decision-making in the design of future lunar missions.

Paper Structure

This paper contains 11 sections, 1 equation, 6 figures, 2 tables.

Table of Contents

  1. INTRODUCTION
  2. STATE-OF-THE-ART
  3. EUROPEAN MOON ROVER SYSTEM
  4. EMRS BREADBOARD
  5. EXPERIMENTAL RESULTS
  6. Traversing results
  7. Steering modes analysis
  8. Wheel deflection analysis
  9. Cost of transport
  10. DISCUSSION
  11. CONCLUSIONS AND FUTURE WORK

Figures (6)

  • Figure 2: Conceptual image of EMRS on a crater slope of 25º
  • Figure 3: Trajectories and orientations of the EMRS Breadboard system performing motions in different locomotion modes, as measured by the motion capture system.
  • Figure 4: Energy consumption per degree of rover yaw captured from ground truth. Comparison between skid-steering and point turn rotations.
  • Figure 5: Angular velocity ratio between the obtained with ground truth and through wheel odometry over the time.
  • Figure 6: Wheel deflection estimation for each of the two wheels A and B on the top and bottom, respectively. On the left, image annotation of wheel pose reprojection and deflection. On the right, 3D model of the wheel and deflected volume estimation (in magenta).
  • ...and 1 more figures