Motion Trajectories for Wide-Area Surveying with a Rover-Based Distributed Spectrometer

Abstract

A mobile ground survey application that employs remote sensing as a primary means of area coverage is highlighted. It is distinguished from mobile robotic area coverage problems that employ contact or proximity-based sensing. The focus is on a specific concept for performing mobile surveys in search of biogenic gases on planetary surfaces using a distributed spectrometer - a rover-based instrument designed for wide measurement coverage of promising search areas. Navigation algorithms for executing circular and spiral survey trajectories are presented for wide-area distributed spectroscopy and evaluated based on area covered and distance traveled.