Testing for the MMX Rover Autonomous Navigation Experiment on Phobos
Meyer, L
Vayugundla, M
Kenny, P
Smíšek, M
Biele, J
Maturilli, A
Müller, MG
Stürzl, W
Schuster, MJ
Bodenmüller, T
Wedler, A
Triebel, R
Kenny, P
Smíšek, M
Biele, J
Maturilli, A
Müller, MG
Stürzl, W
Schuster, MJ
Bodenmüller, T
Wedler, A
Triebel, R
- Publisher:
- IEEE
- Publication Type:
- Conference Proceeding
- Citation:
- 2023 IEEE Aerospace Conference, 2023, 2023-March
- Issue Date:
- 2023-05-15
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| Filename | Description | Size | |||
|---|---|---|---|---|---|
| Testing_for_the_MMX_Rover_Autonomous_Navigation_Experiment_on_Phobos.pdf | Published version | 9.84 MB |
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The MMX rover will explore the surface of Phobos Mars bigger moon It will use its stereo cameras for perceiving the environment enabling the use of vision based autonomous navigation algorithms The German Aerospace Center DLR is currently developing the corresponding autonomous navigation experiment that will allow the rover to efficiently explore the surface of Phobos despite limited communication with Earth and long turn around times for operations This paper discusses our testing strategy regarding the autonomous navigation solution We present our general testing strategy for the software considering a development approach with agile aspects We detail how we ensure successful integration with the rover system despite having limited access to the flight hardware We furthermore discuss what environmental conditions on Phobos pose a potential risk for the navigation algorithms and how we test for these accordingly Our testing is mostly data set based and we describe our approaches for recording navigation data that is representative both for the rover system and also for the Phobos environment Finally we make the corresponding data set publicly available and provide an overview on its content
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