Four-wheel rover performance analysis at lunar analog test

Nathan Britton, John Walker, Kazuya Yoshida, Toshiro Shimizu, Tommaso Paniccia, Kei Nakata

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A high fidelity field test of a four-wheeled lunar micro-rover, code-named Moonraker, was conducted by the Space Robotics Lab at a lunar analog site in Hamamatsu Japan, in cooperation with Google Lunar XPRIZE Team Hakuto. For the target mission to a lunar maria region with a steep slope, slippage in loose soil is a key risk; a prediction method of the slip ratio of the system based on the angle of the slope being traversed using only on-board telemetry is highly desirable. A ground truth of Moonraker’s location was measured and compared with the motor telemetry to obtain a profile of slippage during the entire four hour 500m mission. A linear relationship between the slope angle and slip ratio was determined which can be used to predict the slip ratio when ground truth data is not available.

Original languageEnglish
Title of host publicationField and Service Robotics - Results of the 10th International Conference
EditorsDavid S. Wettergreen, Timothy D. Barfoot
PublisherSpringer Verlag
Pages361-371
Number of pages11
ISBN (Print)9783319277004
DOIs
Publication statusPublished - 2016
Event10th International Conference on Field and Service Robotics, FSR 2015 - Toronto, Canada
Duration: 2015 Jun 232015 Jun 26

Publication series

NameSpringer Tracts in Advanced Robotics
Volume113
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other10th International Conference on Field and Service Robotics, FSR 2015
CountryCanada
CityToronto
Period15/6/2315/6/26

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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