Autonomous robotics is driving Perseverance rover's progress on Mars

被引：42

作者：

Verma, Vandi ^{[1
]}

Maimone, Mark W. ^{[1
]}

Gaines, Daniel M. ^{[1
]}

Francis, Raymond ^{[1
]}

Estlin, Tara A. ^{[1
]}

Kuhn, Stephen R. ^{[1
]}

Rabideau, Gregg R. ^{[1
]}

Chien, Steve A. A. ^{[1
]}

McHenry, Michael M. ^{[1
]}

Graser, Evan J. ^{[1
]}

Rankin, Arturo L. ^{[1
]}

Thiel, Ellen R. ^{[1
]}

机构：

[1] CALTECH, Jet Prop Lab, Pasadena, CA 91109 USA

来源：

SCIENCE ROBOTICS | 2023年 / 8卷 / 80期

基金：

美国国家航空航天局;

关键词：

NASA - Navigation systems - Robots;

D O I：

10.1126/scirobotics.adi3099

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

NASA's Perseverance rover uses robotic autonomy to achieve its mission goals on Mars. Its self-driving autonomous navigation system (AutoNav) has been used to evaluate 88% of the 17.7-kilometer distance traveled during its first Mars year of operation. Previously, the maximum total autonomous distance evaluated was 2.4 kilometers by the Opportunity rover during its 14-year lifetime. AutoNav has set multiple planetary rover records, including the greatest distance driven without human review (699.9 meters) and the greatest single-day drive distance (347.7 meters). The Autonomous Exploration for Gathering Increased Science (AEGIS) system analyzes wide-angle imagery onboard to autonomously select targets for observations by the SuperCam instrument, a multimode sensor suite capable of millimeter-scale geochemical and mineralogical analysis. AEGIS enables observations of scientifically interesting targets during or immediately after long drives without the need for ground communication. OnBoard Planner (OBP) is a scheduling capability planned for operational use in September 2023 that has the potential to reduce energy usage by up to 20% and complete drive and arm-contact science campaigns in 25% fewer days on Mars. This paper presents an overview of the AutoNav, AEGIS, and OBP capabilities used on Perseverance.

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