The Mars Sample Return (MSR) campaign is humanity’s first attempt at returning samples from the Martian surface to Earth. This campaign is composed of multiple spacecraft, landers and robotic systems that collaborate to collect, retrieve, and ultimately return a diverse set of Martian rock and regolith samples. The Sample Recovery Helicopter (SRH) is a team of hybrid aerial-ground robots designed as a backup system to transport sample tubes from the surface of Mars to the Sample Retrieval Lander (SRL) for transport to Earth. An SRH robot is required to perform accurate drives from helipads to sample tube pick up or drop off locations and to handle sample tubes with a manipulator arm. The mobility system has a four wheel skid-steer configuration with 10cm diameter wheels, a maximum rock-height traversal capability of 5.0cm, and a total mass of less than 150g. This paper presents the system-level design of the autonomy system for driving SRH during surface operations. A prototype platform is used to quantitatively evaluate a motion planning and control strategy to position the robot above a desired pose in preparation for sample-tube pick ups. Results demonstrate that this autonomous system is capable of driving the skid-steer platform to within the required sample tube to end-effector pose error of ±2cm in x, ±4cm in y, and ±5° in yaw.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Planning and Control for Autonomous Drives of the Mars Sample Recovery Helicopter


    Contributors:


    Publication date :

    2024-03-02


    Size :

    6295469 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Sample Recovery Helicopter

    Mier-Hicks, Fernando / Grip, Havard Fjaer / Kalantari, Arash et al. | IEEE | 2023


    Helicopter drives

    Botstiber, D.W. | Engineering Index Backfile | 1951


    Mars Sample Recovery Helicopter: Rotorcraft to Retrieve the First Samples from the Martian Surface

    Shannah Withrow-Maser / Wayne Johnson / Theodore Tzanetos et al. | NTRS


    Mars Sample Recovery Helicopter: Rotorcraft to Retrieve the First Samples from the Martian Surface

    Withrow-Maser, S. / Johnson, W. / Tzanetos, T. et al. | British Library Conference Proceedings | 2023