Lunar Surface Navigation

Project Objective

To develop an integrated architecture for autonomous lunar surface construction operations by combining multiple MSFC-developed technologies to explore, map hazards, and set up the precursor stages of a lunar basecamp.

Project Description

The Collaborative Architecture for Surface Mobility (CASM) was a Technical Investment Program (TIP) funded for FY24. It aimed to build upon a rapid study, completed by the Advanced Concepts Organization (ACO), that focused on an integrated architecture for mobility operations, particularly for preparing and constructing a lunar landing pad.

CASM integrates four key MSFC homegrown technologies:

1. Kinematic Navigation and Cartography Knapsack Autonomous Rover (KNaCK): A LIDAR-based 3D terrain mapping and navigation tool, adapted into the KNaCK Autonomous Rover (KNaCAR) for real-time SLAM (Simultaneous Localization and Mapping) and change detection.
2. Smart Video Guidance Sensor (SVGS): A camera-target based relative navigation sensor for Rendezvous, Proximity Operation, and Docking.
3. Lunar Harpoon: An Ultra-Wideband (UWB) based mesh network for localization and navigation.
4. Autonomous Network of Telerobotic Systems (ANTS): Software for commanding multiple rovers from a central "Queen" system.

The project utilizes the Lunar Regolith Terrain (LRT), an outdoor planetary analog environment at MSFC, as its testing and demonstration area. This 125 ft x 125 ft area contains 500 tons of lunar regolith simulant, providing a realistic environment for testing lunar surface operations.

Long-term goals include:

• Advancing the Technology Readiness Level (TRL) of multiple technologies related to lunar surface mobility.
• Providing a growth platform for further integration and expansion of upcoming lunar technologies.
• Supporting ongoing Moon to Mars NASA objectives.

The project involves developing autonomous capabilities for tasks such as mapping, hazard avoidance, UWB-mesh network deployment, and precursor landing pad preparation.

Project Results and Conclusions

1. The CASM project had made significant progress in integrating individual technologies, with the majority of KNaCK, ANTS, and ANTS workers' capabilities in place.
2. Remaining integration efforts were focused on infusing and demonstrating the SVGS and Lunar Harpoon systems within the final concept of operations.
3. The team successfully developed and individually demonstrated a system that can initialize in an unknown environment, map and determine hazards using KNaCK, apply SVGS and KNaCK to disseminate the Lunar Harpoon UWB-mesh network, and prepare a precursor landing pad area using ANT workers and Lunar Harpoon navigation.
4. The project demonstrated the potential for a platform-agnostic, adaptable system capable of incorporating other architectures and systems.

Looking forward, the CASM team plans to:

• Investigate more complex concepts of operations relevant to Space Technology Mission Directorate (STMD) gaps.
• Explore ground demonstrations of Moon-to-Mars Planetary Autonomous Construction Technology (MMPACT)-like devices.
• Integrate with other rovers (e.g., robotic arm variants, high TRL rovers).
• Pursue further TIP/CIF work to expand capabilities.

This project represents a significant step towards developing autonomous systems for lunar surface operations, with potential applications in future Moon and Mars missions.

The project represents a significant improvement to MSFC's autonomous navigation and applied robotics projects. Knowledge gained through the CASM project has advanced four separate MSFC navigation technologies related to LiDAR-based terrain mapping and hazard avoidance, smart-video guidance for autonomous docking, ultra-wide band radio frequency mesh networking for navigation, and command and control software for telerobotic systems.

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