Modular Software Architecture and Algorithms for Fast and Efficient Lunar Mobility (M-SAFE)

ProtoInnovations, LLC proposes a software architecture for autonomous mobility solutions tailored to meet the demanding speed-made-good and reliability requirements during challenging semi-autonomous NASA lunar missions. Building upon ProtoInnovations’s previous successful experience in developing reconfigurable and modular mobility software architectures and robotic systems for autonomous rover operations, we propose an optimized mobility software architecture for high-speed and high-cadence missions in dynamic lunar operating conditions. The software architecture provides onboard autonomy capabilities for high-speed mobility systems through computationally-efficient, power-efficient, and real-time supervisory and coordinated mobility control. Factoring in the need for speed, traction in mixed terrain, robustness to known terrain hazards, and minimizing energy consumption, we propose a suite of dynamic mobility controllers with a supervisory value assessment module for optimal high-progress-rate mobility. The software architecture operates while the mobile system is in motion, continually responding to the state of the rover, current lunar terrain conditions, and mission-level mobility performance needs to make the best controlled decision. As NASA and the space industry prepare for progressively more complex and longer lunar surface missions, such as the Lunar Terrain Vehicle (LTV) and Extravehicular Activity and Human Surface Mobility (EHP) missions, our software architecture aims to provide the necessary functionality and performance to meet evolving requirements for faster and more autonomous lunar operations.