Intelligent Robotic Lunar Wheel with Accurate and Robust Real-Time Mobility Assessment and Response Capabilities

ProtoInnovations, LLC proposes to continue applied research and development of intelligent robotic lunar wheels (IRLWs) with integrated sensing and perception to improve or enable robust mobility on the Moon. The IRLW uses robust slip estimation, explicit sinkage measurements, and perception algorithms to identify entrapment risks in challenging terrain containing soft-soil, and real-time controls to respond to such risks. Offloading entrapment risk assessment capabilities to an intelligent robotic wheel would allow a rover to allocate more of the main computing power for higher-level mission objectives while simultaneously improving the critical reaction time to entrapment risks such as wheel slip and wheel sinkage. The IRLW would aid robotic or manned rovers on the Moon by assessing and promptly responding to mobility hazards.