NASA's Mars Science Laboratory (MSL) Curiosity rover landed on Mars on August 6, 2012. In the 7 years between landing and August 6, 2019 (sol 2488), Curiosity has driven 21,318.5 m over a variety of terrain types and slopes, employing multiple drive modes with varying amounts of onboard autonomy. Curiosity's drive distances each sol have ranged from its shortest drive of 2.6 cm to its longest drive of 142.5 m, with an average drive distance of 28.9 m. Real-time human intervention is not possible during Curiosity's drives due to the latency in uplinking commands and downlinking telemetry. Instead, the operations team relies on Curiosity's fault protection, autonomous navigation, and visual odometry software to keep the rover safe during drives. During its first 7 years on Mars, Curiosity has attempted 738 drives. While 622 drives ran to completion, 116 drives were prevented or stopped early by Curiosity's fault protection software. The primary risks to mobility success have been wheel damage, wheel entrapment, progressive wheel sinkage, and the potential for hardware or cable failures that result in an inability to command one or more steer or drive actuators. In this paper, we describe Curiosity's mobility subsystem, mobility trends over the first 21.3 km of the mission, operational aspects of mobility fault protection, risks to continued mobility success, and risk mitigation strategies.

中文翻译：

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火星好奇号火星车前 7 年的移动趋势

NASA 的火星科学实验室 (MSL) 好奇号火星车于 2012 年 8 月 6 日登陆火星。 从登陆到 2019 年 8 月 6 日（sol 2488）的 7 年中，好奇号已在各种地形类型和斜坡上行驶了 21,318.5 m，采用了多个具有不同车载自主性的驾驶模式。好奇号每个溶胶的行驶距离从最短的 2.6 厘米到最长的 142.5 米不等，平均行驶距离为 28.9 米。由于上行命令和下行遥测的延迟，在好奇号的驱动过程中实时人工干预是不可能的。相反，运营团队依靠好奇号的故障保护、自主导航和视觉里程计软件来确保漫游车在行驶过程中的安全。在火星上的前 7 年里，好奇号已经尝试了 738 次驱动器。当 622 个驱动器运行完成时，好奇号的故障保护软件提前阻止或停止了 116 个驱动器。移动成功的主要风险是车轮损坏、车轮卡住、车轮逐渐下沉，以及硬件或电缆故障导致无法控制一个或多个转向或驱动执行器的可能性。在本文中，我们描述了好奇号的移动子系统、任务前 21.3 公里的移动趋势、移动故障保护的操作方面、持续移动成功的风险以及风险缓解策略。以及导致无法控制一个或多个转向或驱动执行器的硬件或电缆故障的可能性。在本文中，我们描述了好奇号的移动子系统、任务前 21.3 公里的移动趋势、移动故障保护的操作方面、持续移动成功的风险以及风险缓解策略。以及导致无法控制一个或多个转向或驱动执行器的硬件或电缆故障的可能性。在本文中，我们描述了好奇号的移动子系统、任务前 21.3 公里的移动趋势、移动故障保护的操作方面、持续移动成功的风险以及风险缓解策略。