Novel Robotic Fleet for Sample Recovery in Lunar Craters: A Concept of Operations (I)

Abstract

Exploration of extraterrestrial surfaces, such as the lunar surface, can prove treacherous for humans and robots alike, and requires highly specialized mobility platforms to ensure the success of a mission and the safety of any operators. However, these specialized machines may limit the overall scope of a mission by limiting performance outside a particular environment. Thus, for maximum capabilities, a team of distinct but complementary specialized robots and vehicles may be used to expand mission capabilities in lunar environments. In this paper, a concept of operations for exploration of a lunar crater from utilizing a collaboration between a wheeled rover, represented by the RAD Exploration Vehicle (REV) and a non-traditional spherical robot, represented by RoboBall II, is introduced. These robots are used as an analog for mission-capable robots such as NASA’s Chariot rover and the larger RoboBall III. Design of these robots, along with collaborative features and intended operational environments, is discussed. A controller for RoboBall to attempt controlled descent on slopes is presented. Further, a ballistic sample return module for collection and ex situ analysis of a sample from the bottom of a lunar crater, along with potential navigational mechanisms to facilitate efficient recovery, is presented. Finally, a mission analog using RoboBall III and the ballistic sample return conducted in a former quarry is demonstrated.