Rover Autonomy Testing in Simulation and on Breadboard Rovers

To maximiseTesting \b scienceSimulation \b returnAutonomy \b, Mars rovers have to traverse long distances through previously unknown hazardous terrain with very limited communication opportunities. For this task, the rovers need highly autonomous Guidance, Navigation and Control (GNC) systems, designed to allow them to safely traverse terrain without real-time assistance from Earth (Winter et al. in ExoMars Rover Vehicle—Detailed description of the GNC System, ASTRA Conference 2015). To demonstrate that these systems will work in a safe and efficient way on Mars, extensive testing is required. This chapter gives a brief overview about the capabilities of GNC systems designed for current and future Mars rovers, including the two Mars Exploration Rovers Opportunity and Spirit (NASA), the Curiosity Rover (NASA) and the ExoMars Rover (ESA). It then takes a detailed look at how these kind of GNC capabilities are tested in simulation, in controlled test facilities and in field trials. It focuses in particular on the main purposes and advantages of each way of testing. As part of a case study, test results from the development and testing of the Mars Exploration Rovers, the Curiosity Rover and the ExoMars Rover are presented. The presented results cover the validation of simulation environments, testing of localisation systems, testing of trajectory and traction control systems, testing of autonomy algorithms and trials of the operational and science procedures.