Robot-terrain interactions for lunar rovers

月球车的机器人与地形交互

• 批准号: RGPIN-2021-03631
• 负责人: Skonieczny, Krzysztof
• 金额: $ 2.33万
• 依托单位: Concordia University
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2021
• 资助国家: 加拿大
• 起止时间: 2021-01-01 至 2022-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=742651
• 关键词: Robot; terrain; interactions; lunar; rovers

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.

这项研究研究空间机器人，以及它们如何与地形相互作用：驾驶、抓取、挖掘和处理颗粒状材料。随着机器人太空探索的目标是月球、火星和其他地外天体上越来越多的极端地形，对机器人如何与这些地形相互作用的准确了解提高了成功的机会。通过在软土中困住火星探索月球车勇气号，以及火星科学实验室好奇号月球车车轮上的撕裂和穿孔，展示了这项研究将解决的目前在行星表面进行漫游所面临的一些挑战。加拿大航天局(CSA)的月球探索加速器计划(LEAP)在这个时候激发了对月球的特别关注。更深入地了解机器人与地形的相互作用将为漫游者提供更有见地的风险分析。除了应对当前的挑战，这项研究还为太空探索打开了新的机遇。先进的漫游车能够在更陡峭的松散地形的斜坡上行驶，例如，对大量新的陨石坑和山脉进行公开勘探。高效的机器人路线规划可以从耗电的太空任务中获得更多好处。目标包括降低重力飞行运动和开发行星漫游车的人工智能。预期的主要成就包括为加拿大月球车提供飞行路径，以及在月球上进行比较驾驶操作，支持CSA的飞跃。这些研究领域将有助于保持加拿大在空间机器人领域的全球领先地位，这为加拿大经济提供了高科技工作机会，并激励下一代加拿大人追求科学和工程。