Robot-terrain interactions for lunar rovers

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This research studies space robots, and how they interact with terrain: driving on, gripping, digging in, and processing granular materials. As robotic space exploration targets more and more extreme terrains on the Moon, Mars, and other extraterrestrial bodies, an accurate understanding of how robots can interact with these terrains improves chances of success. The entrapment of the Mars Exploration Rover Spirit in soft soil and the tears and punctures in the Mars Science Laboratory Curiosity rover's wheels demonstrate some of the current challenges of roving on planetary surfaces with reduced gravity that this research will address. The Canadian Space Agency's (CSA) Lunar Exploration Accelerator Program (LEAP) motivates particular focus on the Moon at this time. A deeper understanding of robot-terrain interactions would produce better-informed risk analysis for rovers. In addition to addressing current challenges, this research also opens new opportunities for space exploration. Advanced rovers able to drive on steeper slopes of loose terrain, for example, open exploration to a significant number of new craters and mountains. Efficient planning of robot routes can get more out of power-starved space missions. The objectives include reduced-gravity flight campaigns and the development of artificial intelligence for planetary rovers. Expected major accomplishments include enabling path to flight for Canadian lunar rovers and conducting comparative driving operations on the Moon, supporting CSA's LEAP. These areas of research will help maintain Canada's global leadership in space robotics, which provides the economy with a supply of high-tech jobs and inspires the next generation of Canadians to pursue science and engineering.