The LRU Rover for Autonomous Planetary Exploration and Its Success in the SpaceBotCamp Challenge

Authors:
  • MSMartin J. Schuster
    Martin J. Schuster
  • CBChristoph Brand
    Christoph Brand
  • SBSebastian G. Brunner
    Sebastian G. Brunner
  • PLPeter Lehner
    Peter Lehner
  • SRSebastian Riedel
    Sebastian Riedel
  • TBTim Bodenmuller
    Tim Bodenmuller
  • KBKristin Bussmann
    Kristin Bussmann
  • SBStefan Buttner
    Stefan Buttner
  • ADAndreas Domel
    Andreas Domel
  • WFWerner Friedl
    Werner Friedl
  • IGIris Grixa
    Iris Grixa
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Abstract
The task of planetary exploration poses many challenges for a robot system, from weight and size constraints to sensors and actuators suitable for extraterrestrial environment conditions. In this work, we present the Light Weight 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 the application of stereo cameras as its main sensor ensures the applicability to space missions. We implemented software components for self-localization in GPS-denied environments, environment mapping, object search and localization and for the autonomous pickup and assembly of objects with its arm. 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 a moon-like rough-terrain environment, 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 autonomous.

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