مورد إلكتروني
Towards energy efficient autonomous exploration of Mars lava tube with a Martian coaxial quadrotor
| العنوان: | Towards energy efficient autonomous exploration of Mars lava tube with a Martian coaxial quadrotor |
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| بيانات النشر: | Luleå tekniska universitet, Signaler och system Jet Propulsion Laboratory, California Institute of Technology Pasadena, CA 91109, USA 2023 |
| تفاصيل مُضافة: | Patel, Akash Karlsson, Samuel Lindqvist, Björn Kanellakis, Christoforos Agha-Mohammadi, Ali-Akbar Nikolakopoulos, George |
| نوع الوثيقة: | Electronic Resource |
| مستخلص: | Mapping and exploration of a Martian terrain with an aerial vehicle has become an emerging research direction, since the successful flight demonstration of the Mars helicopter Ingenuity. Although the autonomy and navigation capability of the state of the art Mars helicopter has proven to be efficient in an open environment, the next area of interest for exploration on Mars are caves or ancient lava tube like environments, especially towards the never-ending search of life on other planets. This article presents an autonomous exploration mission based on a modified frontier approach along with a risk aware planning and integrated collision avoidance scheme with a special focus on energy aspects of a custom designed Mars Coaxial Quadrotor (MCQ) in a Martian simulated lava tube. One of the biggest novelties of the article stems from addressing the exploration capability, while rapidly exploring in local areas and intelligently global re-positioning of the MCQ when reaching dead ends in order to efficiently use the battery based consumed energy, while increasing the volume of the exploration. The proposed novel algorithm for the Martian exploration is able to select the next way point of interest, such that the MCQ keeps its heading towards the local exploration direction where it will find maximum information about the surroundings. The proposed three layer cost based global re-position point selection assists in rapidly redirecting the MCQ to previously partially seen areas that could lead to more unexplored part of the lava tube. The Martian fully simulated mission presented in this article takes into consideration the fidelity of physics of Mars condition in terms of thin atmosphere, low surface pressure and low gravity of the planet, while proves the efficiency of the proposed scheme in exploring an area that is particularly challenging due to the subterranean-like environment. The proposed exploration-planning framework is also validated in simulation by comparing Validerad;2023;Nivå 2;2023-04-20 (hanlid) |
| مصطلحات الفهرس: | Frontier, Mars exploration, Mars lava tube, Global re positioning, Aerospace Engineering, Rymd- och flygteknik, Article in journal, info:eu-repo/semantics/article, text |
| DOI: | 10.1016.j.asr.2022.11.014 |
| URL: | Advances in Space Research, 0273-1177, 2023, 71:9, s. 3837-3854 |
| الإتاحة: | Open access content. Open access content info:eu-repo/semantics/openAccess |
| ملاحظة: | application/pdf English |
| أرقام أخرى: | UPE oai:DiVA.org:ltu-94268 0000-0002-0020-6020 0000-0002-1046-0305 0000-0003-3922-1735 0000-0001-8870-6718 0000-0003-0126-1897 doi:10.1016/j.asr.2022.11.014 Scopus 2-s2.0-85142513242 1399550956 |
| المصدر المساهم: | UPPSALA UNIV LIBR From OAIster®, provided by the OCLC Cooperative. |
| رقم الأكسشن: | edsoai.on1399550956 |
| قاعدة البيانات: | OAIster |
| DOI: | 10.1016.j.asr.2022.11.014 |
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