Discussion of a Self-Localization and Navigation Unit for Mobile Robots in Extraterrestrial Environments

摘要

Mobile robots are recognized as being essential for the exploration of planets in our solar system. In this paper, we introduce a new approach for a self-localization and navigation unit for mobile platforms in extraterrestrial environments. Our work is based on a general concept for self-localization in unstructured environments. It has been implemented for earthbound environments and successfully been applied in forestry scenarios. As the general concept is simple but highly modular, it supports working in extraterrestrial environments as well. In this paper, we will explain the general concept and the earthbound implementation so far. On this basis, we will demonstrate and discuss the necessary adaptions to the general concept in order to handle the different conditions on extraterrestrial surfaces.