Range Gating

In phase I, ASC developed plans to modify the Global Shutter Flash LiDAR to support fast traversing rovers. The GSFL was part of a robotic sensor suite for fast traversing across planetary and lunar surfaces. High speed traversing across steep and rough terrain requires real-time three-dimensional processing for collision avoidance while always navigating to the best path forward. This must be accomplished in low light or no light conditions and having to navigate through Degraded Visual Environments (DVE). For this application, the DVE is caused by dust storms. The development of the GSFL for fast traversing robots required algorithm development to provide range and bearing measurements as navigation aids for the rover’s navigation system. Machine Learning, Deep Learning Neural Network (DLNN), and Artificial Intelligence (AI) was applied to assess the terrain and obstacles to define the best path forward while quickly navigating the terrain. Modeling and simulation were also addressed in phase I along with Algorithm trade studies and recommendations. The T-R2S2 project, currently in phase III, addresses a lot of the algorithm development and simulation that was addressed in phase I for fast traversing rovers. Algorithms for range, bearing, ML, AI, and DLNN are being developed for the T-R2S2 mission. With modification, these can also apply to fast traversing rovers. Tools for modeling and simulation have been developed for T-R2S2 that can be directly applied to fast traversing rovers. The one topic that has not been addressed is the operation in DVE conditions. For this phase II, ASC is proposing the development of range gating to support T-R2S2 operation in DVE conditions. This development with some modifications to address dust storms can be applied to fast traversing rovers. ASC is proposing that the range gating function be integrated into the Targetless-Relative Reference Sensor System (T-R2S2). This capability enhancement will provide better performance in Degraded Visible Environments (DVE), and provide longer range measurements in normal conditions.