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.
CITATION STYLE
Britton, N., Walker, J., Yoshida, K., Shimizu, T., Paniccia, T., & Nakata, K. (2016). Four-wheel rover performance analysis at lunar analog test. In Springer Tracts in Advanced Robotics (Vol. 113, pp. 361–371). Springer Verlag. https://doi.org/10.1007/978-3-319-27702-8_24
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