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Journal of Intelligent & Robotic Systems

, Volume 93, Issue 3–4, pp 461–494 | Cite as

Towards Autonomous Planetary Exploration

The Lightweight Rover Unit (LRU), its Success in the SpaceBotCamp Challenge, and Beyond
  • Martin J. SchusterEmail author
  • Sebastian G. Brunner
  • Kristin Bussmann
  • Stefan Büttner
  • Andreas Dömel
  • Matthias Hellerer
  • Hannah Lehner
  • Peter Lehner
  • Oliver Porges
  • Josef Reill
  • Sebastian Riedel
  • Mallikarjuna Vayugundla
  • Bernhard Vodermayer
  • Tim Bodenmüller
  • Christoph Brand
  • Werner Friedl
  • Iris Grixa
  • Heiko Hirschmüller
  • Michael Kaßecker
  • Zoltán-Csaba Márton
  • Christian Nissler
  • Felix Ruess
  • Michael Suppa
  • Armin Wedler
Open Access
Article
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Abstract

Planetary exploration poses many challenges for a robot system: From weight and size constraints to extraterrestrial environment conditions, which constrain the suitable sensors and actuators. As the distance to other planets introduces a significant communication delay, the efficient operation of a robot system requires a high level of autonomy. In this work, we present our Lightweight Rover Unit (LRU), a small and agile rover prototype that we designed for the challenges of planetary exploration. Its locomotion system with individually steered wheels allows for high maneuverability in rough terrain and stereo cameras as its main sensors ensure the applicability to space missions. We implemented software components for self-localization in GPS-denied environments, autonomous exploration and mapping as well as computer vision, planning and control modules for the autonomous localization, pickup and assembly of objects with its manipulator. Additional high-level mission control components facilitate both autonomous behavior and remote monitoring of the system state over a delayed communication link. We successfully demonstrated the autonomous capabilities of our LRU at the SpaceBotCamp challenge, a national robotics contest with focus on autonomous planetary exploration. A robot had to autonomously explore an unknown Moon-like rough terrain, locate and collect two objects and assemble them after transport to a third object – which the LRU did on its first try, in half of the time and fully autonomously. The next milestone for our ongoing LRU development is an upcoming planetary exploration analogue mission to perform scientific experiments at a Moon analogue site located on a volcano.

Keywords

Autonomous mobile robots Planetary exploration Robotic challenge Navigation Manipulation Autonomous task execution 

Mathematics Subject Classification (2010)

68T40 70B15 93C85 68T45 
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Notes

Acknowledgements

We thank the members of the Mobile Robots Group at DLR-RMC, especially Annika Maier, Bertram Willberg, Florian Schmidt and Philipp Lutz as well as our system administrators, in particular Stefan Engelhardt and Stefan von Dombrowski for their assistance. We thank Dr. Máximo A. Roa, Prof. Michael Beetz PhD, PD Dr. habil. Rudolph Triebel and Prof. Dr. Alin Albu-Schäffer for their support and many valuable discussions. We thank the anonymous reviewers for their insightful comments and suggestions.

Funding Information

This work was supported by the Helmholtz Association, project alliance ROBEX (contract number HA-304) and partially funded by the DLR Space Administration.

Compliance with Ethical Standards

Conflict of interests

The authors declare that they have no conflict of interest.

Supplementary material

(MP4 292 MB)

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Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

Authors and Affiliations

  • Martin J. Schuster
    • 1
    Email author
  • Sebastian G. Brunner
    • 1
  • Kristin Bussmann
    • 1
  • Stefan Büttner
    • 1
  • Andreas Dömel
    • 1
  • Matthias Hellerer
    • 2
  • Hannah Lehner
    • 1
  • Peter Lehner
    • 1
  • Oliver Porges
    • 1
  • Josef Reill
    • 1
  • Sebastian Riedel
    • 1
  • Mallikarjuna Vayugundla
    • 1
  • Bernhard Vodermayer
    • 1
  • Tim Bodenmüller
    • 1
  • Christoph Brand
    • 1
  • Werner Friedl
    • 1
  • Iris Grixa
    • 1
  • Heiko Hirschmüller
    • 3
  • Michael Kaßecker
    • 1
  • Zoltán-Csaba Márton
    • 1
  • Christian Nissler
    • 1
  • Felix Ruess
    • 3
  • Michael Suppa
    • 3
  • Armin Wedler
    • 1
  1. 1.Robotics and Mechatronics Center (RMC), Institute of Robotics and MechatronicsGerman Aerospace Center (DLR)WeßlingGermany
  2. 2.Robotics and Mechatronics Center (RMC), Institute of System Dynamics and ControlGerman Aerospace Center (DLR)WeßlingGermany
  3. 3.Roboception GmbHMünchenGermany

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