NASA and ESA are proposing to retrieve samples from Mars with a rover that will need to drive long distances, beyond what is seen on images from previous downlinks, to complete its mission in less than 200 Martian days. This paper proposes a planning method to support Mars Sample Return by integrating terrain information into the planning phase. The first step consists of predicting rover slip and drive speed using orbital data. When tested with Mars data, slip ranges are predicted and an expected velocity map is successfully drawn. The second step involves planning the traverse for the driving objective of a sol, based on the map of expected slip and drive speed. While driving, the rover monitors the terrain by converting its wheel slip and speed into terrain information, projected forward to confirm or refute predicted behavior, update the map and replan if necessary. Simulation showed successful map updates given new information and replanning when needed. If monitoring is insufficient to confirm traversability, a third step describes an instrument would be deployed to compute intrinsic terrain parameters, information then propagated ahead to update and replan if necessary. Experiments showed results close to the expected parameters of the tested soils.

NASA 和 ESA 提议用一个漫游车从火星上取回样本，该漫游车需要行驶很长的距离，超出之前下行链路图像中所见，才能在不到 200 个火星日内完成任务。本文提出了一种规划方法，通过将地形信息整合到规划阶段来支持火星采样返回。第一步包括使用轨道数据预测流动站滑移和驱动速度。当使用火星数据进行测试时，可以预测滑移范围并成功绘制预期的速度图。第二步涉及根据预期滑移和驱动速度图为溶胶的驱动目标规划遍历。行驶时，漫游车通过将其车轮滑移和速度转换为地形信息来监控地形，向前投射以确认或反驳预测的行为，如有必要，更新地图并重新规划。模拟显示，在提供新信息和需要时重新规划的情况下，地图更新成功。如果监测不足以确认可穿越性，则第三步描述将部署仪器来计算固有地形参数，然后在必要时提前传播信息以进行更新和重新规划。实验表明结果接近被测土壤的预期参数。