Rover Technology for Open-Path Spectroscopy Surveys

Rover technology is presented for executing mobile surveys using a distributed spectrometer for open-path, in situ remote sensing. A low-cost research rover prototype was created to verify mobile survey algorithms for a specific absorption spectrometer being designed to acquire open-path measurements of biogenic gases on Mars. Distributed instrument components include the rover-mounted spectrometer and a retroreflector. This paper describes the robotics supporting autonomous surveying as implemented and verified on the prototype rover. The rover provides necessary instrument mobility including hazard avoidance and survey trajectory following, and it emulates key robotic functions of the spectrometer including laser pointing and color vision-based retroreflector alignment. Rover design and surveying capabilities were verified through preliminary tests and validated by executing surveys of small areas.