[论文解读] Lunar Rover Cargo Transport: Mission Concept and Field Test

Alexander Krawciw, Nicolas A. Olmedo+4 more|arXiv (Cornell University)|Jan 6, 2026

Soil Mechanics and Vehicle Dynamics被引用 0

一句话总结

本文提出一个任务概念并进行现场测试，验证一种激光雷达学习与再现的自主运输管线，以在类似月球的勘探车上运输货物，面对挑战性条件。该系统在模拟月球任务中实现了精确对接与货物处理。

ABSTRACT

In future operations on the lunar surface, automated vehicles will be required to transport cargo between known locations. Such vehicles must be able to navigate precisely in safe regions to avoid natural hazards, human-constructed infrastructure, and dangerous dark shadows. Rovers must be able to park their cargo autonomously within a small tolerance to achieve a successful pickup and delivery. In this field test, Lidar Teach and Repeat provides an ideal autonomy solution for transporting cargo in this way. A one-tonne path-to-flight rover was driven in a semi-autonomous remote-control mode to create a network of safe paths. Once the route was taught, the rover immediately repeated the entire network of paths autonomously while carrying cargo. The closed-loop performance is accurate enough to align the vehicle to the cargo and pick it up. This field report describes a two-week deployment at the Canadian Space Agency's Analogue Terrain, culminating in a simulated lunar operation to evaluate the system's capabilities. Successful cargo collection and delivery were demonstrated in harsh environmental conditions.

研究动机与目标

• Motivate autonomous cargo transport on the Moon to move supplies between landers and habitats.
• Evaluate lidar teach-and-repeat (LT&R) as an autonomy solution for precise routing with cargo.
• Integrate a cargo system that can latch and unload autonomously or semi-autonomously in a lunar analog.

提出的方法

• Use Lidar Teach and Repeat to create and repeat a network of safe paths between landers and habitats.
• Employ a MPC-based control loop with lidar odometry for precise path tracking.
• Implement a cargo mechanism with four telescopic legs and latching system to enable autonomous unloading and docking.
• Conduct a field test on CSA’s Analogue Terrain with reduced bandwidth and sun-gun illumination to mimic lunar south-pole conditions.
• Operate in three stages: semi-autonomous teach, autonomous reverse, and autonomous forward repetition.

实验结果

研究问题

• RQ1 Can LT&R provide reliable long-range autonomy for cargo transport on the Moon?
• RQ2 What accuracy and timing are achievable for docking and cargo handoff under lunar-analog lighting and wind conditions?
• RQ3 How does autonomous repetition compare to semi-autonomous teaching in terms of path consistency and mission duration?
• RQ4 What are the practical challenges of cargo loading/unloading and precise alignment in a remote lunar scenario?

主要发现

• The closed-loop LT&R approach achieves enough accuracy to align the rover to the cargo for latch and pickup.
• The field test demonstrated successful cargo collection and delivery in harsh environmental conditions.
• A two-week CSA Analogue Terrain deployment culminated in a simulated lunar operation validating the concept.
• Semi-autonomous teaching followed by autonomous repeats enabled long-route traversal with cargo on board.