Autonomous mission planning for planetary surface exploration using a team of micro rovers

摘要

One of the fundamental limiting factors in planetary exploration is the level of autonomy achieved by planetary exploration rovers. This study proposes a novel methodology for the coordination of an autonomous multi-robot team that evaluates efficient exploration routes in Jezero crater, Mars. 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 team-wide route, which maximises the accumulated probability of identifying points of interest. A 4D RRT* algorithm is used to determine smooth and flat paths for individual rovers, following the team-wide route planner, and prioritized planning is used to coordinate a safe set of individual 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.