Evolution of a prototype lunar rover: Addition of laser-based hazard detection, and results from field trials in lunar analog terrain

This paper presents the results of field trials of a prototype lunar rover traveling over natural terrain under safeguarded teleoperation control. Bot h the rover and the safeguarding approach have been used in previous work. The original contributions of this paper are the development and integratio n of a laser hazard detection system, and extensive field testing of the ov erall system. The laser system, which complements an existing stereo vision system, is based on a line-scanning laser ranger viewing the area 1 meter in front of the rover. The laser system has demonstrated excellent performa nce: zero misses and few false alarms operating at 4 Hz. The overall safegu arding system guided the rover 43 km over lunar analogue terrain with 0.8 f ailures per kilometer.