A Software Framework for Advancing Perception Capabilities for Rovers Operating in Harsh Lunar Environments

University of Wisconsin-Madison (UWM) in collaboration with ProtoInnovations propose to architect, design, develop, and validate a high-fidelity modeling and sensors simulation software and perception algorithms for surface hazard detection in harsh lunar-like environments. The space robotics community currently lacks an end-to-end software suite that simulates the appearance and granular-terrain mechanics of lunar-like environments. As NASA prepares for progressively complex and longer future lunar surface missions, surface robot systems will require higher performance and autonomy capabilities to carry out mission-critical tasks. This includes performing reliably and traversing successfully through previously unexplored lunar terrain in harsh environments. To achieve this, perception algorithms will need to advance to enable high-performance autonomy in dynamic lunar surface conditions.nbsp; Phase II of this STTR, will further mature the simulation platform to generate higher fidelity data leading to the development and maturation of perception algorithms for detecting terrain hazards. The focus during Phase II will mainly be on the following: 1.nbsp;nbsp; nbsp;Further improve the simulation platform to generate higher fidelity perception data 2.nbsp;nbsp; nbsp;Develop a unified perception system to detect excessive wheel sinkage and embedded obstacles near the roverrsquo;s wheels nbsp;