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arXiv · 2405.12790

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

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

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Sarah Swinton, Jan-Hendrik Ewers, Euan McGookin, David Anderson, Douglas Thomson. 2024-05-21. A Novel Methodology for Autonomous Planetary Exploration Using Multi-Robot Teams. https://arxiv.org/abs/2405.12790

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