Robot-terrain interactions for lunar rovers

这项研究研究太空机器人，以及它们如何与地形互动：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越来越接近月球、火星和其他地外天体上的极端地形，准确了解机器人如何与这些地形互动可以提高成功的机会。火星探测漫游者精神号被困在软土中，火星科学实验室Currency漫游者车轮上的撕裂和穿孔表明了目前在重力降低的行星表面漫游的一些挑战，这项研究将解决这些挑战。加拿大航天局（CSA）的月球探测加速器计划（LEAP）在这个时候特别关注月球。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好的风险分析。除了应对当前的挑战外，这项研究还为太空探索开辟了新的机会。例如，先进的漫游车能够在松散地形的陡坡上行驶，可以对大量新的陨石坑和山脉进行开放式勘探。高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。目标包括减轻重力飞行活动和开发行星漫游者的人工智能。预期的主要成就包括为加拿大月球漫游车提供飞行路径，并在月球上进行比较驾驶操作，支持加空局的LEAP。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导地位，为经济提供高科技就业机会，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.