Four-wheel rover performance analysis at lunar analog test

Nathan Britton; John Walker; Kazuya Yoshida; Toshiro Shimizu; Tommaso Paniccia; Kei Nakata

doi:10.1007/978-3-319-27702-8_24

Four-wheel rover performance analysis at lunar analog test

Nathan Britton, John Walker, Kazuya Yoshida, Toshiro Shimizu, Tommaso Paniccia, Kei Nakata

ENG - Aerospace Engineering

Tohoku University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

A high fidelity field test of a four-wheeled lunar micro-rover, code-named Moonraker, was conducted by the Space Robotics Lab at a lunar analog site in Hamamatsu Japan, in cooperation with Google Lunar XPRIZE Team Hakuto. For the target mission to a lunar maria region with a steep slope, slippage in loose soil is a key risk; a prediction method of the slip ratio of the system based on the angle of the slope being traversed using only on-board telemetry is highly desirable. A ground truth of Moonraker’s location was measured and compared with the motor telemetry to obtain a profile of slippage during the entire four hour 500m mission. A linear relationship between the slope angle and slip ratio was determined which can be used to predict the slip ratio when ground truth data is not available.

Original language	English
Title of host publication	Field and Service Robotics - Results of the 10th International Conference
Editors	David S. Wettergreen, Timothy D. Barfoot
Publisher	Springer Verlag
Pages	361-371
Number of pages	11
ISBN (Print)	9783319277004
DOIs	https://doi.org/10.1007/978-3-319-27702-8_24
Publication status	Published - 2016
Event	10th International Conference on Field and Service Robotics, FSR 2015 - Toronto, Canada Duration: 2015 Jun 23 → 2015 Jun 26

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	113
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

Conference

Conference	10th International Conference on Field and Service Robotics, FSR 2015
Country/Territory	Canada
City	Toronto
Period	15/6/23 → 15/6/26

Access to Document

10.1007/978-3-319-27702-8_24

Cite this

Britton, N., Walker, J., Yoshida, K., Shimizu, T., Paniccia, T., & Nakata, K. (2016). Four-wheel rover performance analysis at lunar analog test. In D. S. Wettergreen, & T. D. Barfoot (Eds.), Field and Service Robotics - Results of the 10th International Conference (pp. 361-371). (Springer Tracts in Advanced Robotics; Vol. 113). Springer Verlag. https://doi.org/10.1007/978-3-319-27702-8_24

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title = "Four-wheel rover performance analysis at lunar analog test",

abstract = "A high fidelity field test of a four-wheeled lunar micro-rover, code-named Moonraker, was conducted by the Space Robotics Lab at a lunar analog site in Hamamatsu Japan, in cooperation with Google Lunar XPRIZE Team Hakuto. For the target mission to a lunar maria region with a steep slope, slippage in loose soil is a key risk; a prediction method of the slip ratio of the system based on the angle of the slope being traversed using only on-board telemetry is highly desirable. A ground truth of Moonraker{\textquoteright}s location was measured and compared with the motor telemetry to obtain a profile of slippage during the entire four hour 500m mission. A linear relationship between the slope angle and slip ratio was determined which can be used to predict the slip ratio when ground truth data is not available.",

author = "Nathan Britton and John Walker and Kazuya Yoshida and Toshiro Shimizu and Tommaso Paniccia and Kei Nakata",

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Britton, N, Walker, J, Yoshida, K, Shimizu, T, Paniccia, T & Nakata, K 2016, Four-wheel rover performance analysis at lunar analog test. in DS Wettergreen & TD Barfoot (eds), Field and Service Robotics - Results of the 10th International Conference. Springer Tracts in Advanced Robotics, vol. 113, Springer Verlag, pp. 361-371, 10th International Conference on Field and Service Robotics, FSR 2015, Toronto, Canada, 15/6/23. https://doi.org/10.1007/978-3-319-27702-8_24

Four-wheel rover performance analysis at lunar analog test. / Britton, Nathan; Walker, John; Yoshida, Kazuya et al.
Field and Service Robotics - Results of the 10th International Conference. ed. / David S. Wettergreen; Timothy D. Barfoot. Springer Verlag, 2016. p. 361-371 (Springer Tracts in Advanced Robotics; Vol. 113).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Walker, John

AU - Yoshida, Kazuya

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AU - Paniccia, Tommaso

AU - Nakata, Kei

N1 - Publisher Copyright: © Springer International Publishing Switzerland 2016.

PY - 2016

Y1 - 2016

N2 - A high fidelity field test of a four-wheeled lunar micro-rover, code-named Moonraker, was conducted by the Space Robotics Lab at a lunar analog site in Hamamatsu Japan, in cooperation with Google Lunar XPRIZE Team Hakuto. For the target mission to a lunar maria region with a steep slope, slippage in loose soil is a key risk; a prediction method of the slip ratio of the system based on the angle of the slope being traversed using only on-board telemetry is highly desirable. A ground truth of Moonraker’s location was measured and compared with the motor telemetry to obtain a profile of slippage during the entire four hour 500m mission. A linear relationship between the slope angle and slip ratio was determined which can be used to predict the slip ratio when ground truth data is not available.

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ER -

Four-wheel rover performance analysis at lunar analog test

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