Robot-terrain interactions for lunar rovers

这项研究研究了太空机器人，以及它们如何与地形相互作用：行驶、抓取、挖掘和处理颗粒状材料。随着机器人太空探索越来越多地瞄准月球、火星和其他地外天体上的极端地形，对机器人如何与这些地形相互作用的准确理解提高了成功的机会。“勇气号”火星探测车被困在松软的土壤中，“好奇号”火星科学实验室探测车车轮上的撕裂和穿刺，都表明了目前在重力减弱的行星表面漫游所面临的一些挑战，而这项研究将解决这些挑战。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，将为漫游者提供更明智的风险分析。除了解决当前的挑战，这项研究还为太空探索开辟了新的机会。例如，先进的探测车可以在更陡峭的斜坡上行驶，可以探索大量新的陨石坑和山脉。有效的机器人路线规划可以从电力匮乏的太空任务中获得更多。目标包括减少重力飞行活动和为行星漫游者开发人工智能。预期的主要成就包括为加拿大月球车提供飞行路径，并在月球上进行比较驾驶操作，支持CSA的LEAP。这些领域的研究将有助于保持加拿大在太空机器人领域的全球领导地位，这将为经济提供高科技工作岗位，并激励下一代加拿大人追求科学和工程。

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.