Robotic Assistance, Mobility & Vision Systems – Enabling Technology for Early Human-robotic Lunar Exploration

In the 21 st Century, space exploration will focus on surface exploration, with human-robotic collaboration allowing extended-duration stays at challenging lunar and planetary sites. This paper focuses on three early phases of lunar exploration: (i) in-situ characterisation and site survey for science, prospecting and reconnaissance in advance of human sorties (ii) in-situ human sortie field assistance, and (iii) transport of samples, equipment and small-scale infrastructure. In particular two technologies relevant to these phases are examined: surface mobility and advanced vision. For surface mobility, three areas of MDA technology development are discussed: (i) rover chassis simulation and evaluation, (ii) chassis prototype construction and field testing, and (iii) autonomous rover navigation systems for localisation, motion estimation and path planning. An overview of recent activities is given, including the development of a prototype chassis in preparation for the ESA ExoMars mission, and field tests of cameraand lidar-based navigation technologies in partnership with Optech, NASA and the Canadian Space Agency (CSA). The application of vision systems for navigation, science, prospecting and site survey is discussed. The merits of cameraand lidar-based systems are summarized, along with their applicability to the Moon in rover-mounted and astronaut handheld scenarios.