The Importance of Sensors in Lunar Rovers

Importance of Sensors
in Lunar Rovers
Enhancing Exploration and Discovery Presented by: Mohammed Afif
Attar
WG86AA
Lunar Introduction
Role of Sensors on a Lunar
Rover Rover
Explained Navigation Sensors
ICP and SLAM algorithms

What you will learn today?
MATLAB Simulation of LiDAR
Conclusion
Introduction
Lunar exploration has always captivated
humanity's imagination, but the challenges of
operating on the Moon's harsh and unfamiliar
terrain demand innovative solutions.
Sensors play a pivotal role in enabling lunar

rovers to autonomously traverse the lunar
surface, gather crucial scientific data, and ensure
safe navigation amidst rugged landscapes and
unpredictable lunar conditions.
Important Lunar exploration
missions.
1950s 1960s 1970s 1990s 2000s
Luna 2 and Luna First robotic Multiple missions Clementine Chandrayaan-1
3: First lunar sample returned with (1994): First (2009):
spacecraft to return wealth of lunar mission to map Discovered
impact the lunar mission(Luna 24) samples and the entire Moon water molecules
surface, and revolutionized with high-res on the lunar
captured images First successful our images surface
of far side of the human landing understanding of
moon. on lunar surface Moon’s formation
(Apollo 11)
Role of various Sensors in Lunar
Rovers
To overcome challenges & achieve mission goals, lunar
rovers rely on a comprehensive suite of sensors. [S.
Thangavel, S. Vijayaganesan, and S. Umapathy, "A review
of lunar rovers: Design, development, and future
prospects," Measurement, vol. 166, no. 118232, 2020.
[accessed Apr 17, 2024].
• Cameras: Onboard cameras capture images of the
lunar terrain, landmarks, and obstacles.
• LiDAR: These sensors emit laser beams and measure
the time it takes for the light to bounce back from the
lunar surface.
• IMU: IMUs consist of gyroscopes and accelerometers
that measure the rover's orientation, acceleration, and
velocity.
• Figure 1. LUVMI-X Consortium, "LUVMI-
• Spectrometers: These instruments analyze the
composition of lunar rocks and soil by detecting the X: European Lunar Lander Technology
wavelengths of light they emit or reflect. Development," Online document,
Available: https://www.h2020-luvmi-
• Radiation Detectors: Sensors monitor radiation levels x.eu/wp-content/uploads/2020/09/LUV
on the lunar surface, providing crucial data for assessing MI-article-high-res.pdf. [Accessed:
Why Navigation and Hazard
Detection sensors are important?
• Safety of the Rover:
• Detecting hazards such as steep slopes, large rocks,
craters, and soft soil patches helps prevent rover
damage or getting stuck, ensuring the rover's
continued operation and longevity on the Moon.
• Avoiding Mission Failures:

• Identification of hazards allows the rover to navigate
safely and avoid obstacles that could otherwise lead
to mission failures or interruptions.
• Optimizing Scientific Exploration:

• By avoiding hazards, rovers can reach desired
scientific targets and conduct experiments effectively,
maximizing the scientific return of the mission.
• Enhancing Autonomy:
• Hazard detection enables autonomous navigation,
allowing rovers to make real-time decisions and adjust
their paths to ensure safe and efficient exploration.
Simultaneous Localization and Mapping
Algorithm [Cyrill Stachniss, "Robot Mapping: SLAM and Dense Reconstruction."
Springer, 2019. [accessed Apr 24, 2024]
]
• SLAM enables autonomous exploration and navigation
by constructing a detailed map of the lunar
environment.
• Operates globally to maintain a persistent map of the

lunar terrain, providing adaptive navigation capabilities.
• SLAM continuously updates the map with new sensor

data, integrating Lidar scans and other inputs to ensure
an accurate representation of the surroundings.
• Provides comprehensive spatial understanding for

mission planning and hazard detection during lunar
surface operations.
• Supports adaptive navigation strategies based on real-

time map updates, allowing the rover to react to
dynamic environmental changes and unknown terrain
challenges.
Iterative Closest Point Algorithm
[P. J. Besl and N. D. McKay, "Method for registration of 3-D shapes," IEEE
Transactions on Pattern Analysis and Machine Intelligence, vol. 14, no. 2,
pp. 239-256, Feb. 1992. DOI: 10.1109/34.121791 [accessed Apr 24, 2024]
• Localization Refinement: ICP refines the • Pose Estimation: ICP calculates

rover's localization accuracy by aligning the pose change between
consecutive Lidar scans. successive scans, providing
accurate trajectory planning and
• Local Operation: It operates locally within rover movement control.
short temporal windows, focusing on
immediate sensor data to improve navigation • Real-time Adjustment:
precision and obstacle avoidance. Provides real-time pose updates
based on point cloud
registration.
• Immediate Navigation
Decisions: Enables the rover to
make quick navigation decisions
based on localized point cloud
alignment, ensuring safe and
efficient movement.
Basic MATLAB simulation for LiDAR
object detection
Conclusion
• Sensors are vital components of the Lunar rover
• Navigation and Hazard detection sensors are the most important.
• SLAM algorithm is mainly used for mapping of the terrain
• ICP algorithm is used for changing the rovers position

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Importance of Sensors

Role of Sensors on a Lunar

Explained Navigation Sensors

ICP and SLAM algorithms

MATLAB Simulation of LiDAR

Sensors play a pivotal role in enabling lunar

Luna 2 and Luna First robotic Multiple missions Clementine Chandrayaan-1

3: First lunar sample returned with (1994): First (2009):

spacecraft to return wealth of lunar mission to map Discovered

surface, and revolutionized with high-res on the lunar

captured images First successful our images surface

of far side of the human landing understanding of

moon. on lunar surface Moon’s formation

• Avoiding Mission Failures:

• Optimizing Scientific Exploration:

• Operates globally to maintain a persistent map of the

• SLAM continuously updates the map with new sensor

• Provides comprehensive spatial understanding for

• Supports adaptive navigation strategies based on real-

• Localization Refinement: ICP refines the • Pose Estimation: ICP calculates

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