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�Team Python presents…

Lunar Rover Landing Site Analysis & Path Planner

Mukul Ganwal

Emilio Guevara

Aditya Bapat

Arpit Sahni

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Salient features…

Our product is the part of a NASA proposal to to study craters and pits on the moon. Here are its features:

  • Our product successfully computes the best possible vantage points of the rover. This, in turn, will help the rover to analyze the pit under consideration in various possible angles

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  • We have developed an A star algorithm to compute the best possible path from the landing site towards the vantage points�
    • This is designed in such a way that the rover negates the slopes and non-navigable areas of the moon surface, and finds an optimal path.
    • Compute the best possible landing site for the moon lander

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1. Finds path from lander to closest vantage point�

2. Finds path between each vantage point, generating a rover mission path

Astar

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LANDER

Lacus Mortis Pit

Rover

1m

3m

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Obstacle

Lacus Mortis Pit

Rover

LANDER

3m

1m

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PIT

Sample Points

Landing Circle

Ray tracing

KEY

25%

50%

75%

100%

Line-of-site values

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Our Target Audience?

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The Planetary Robotics Lab at CMU

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The whole idea of our project is that this would eventually be used onboard a rover as part of its autonomy code.

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We are not necessarily competing with anyone, but we try to match the level of the autonomy code developed by NASA

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Outputs

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Best Landing Site

Vantage Points

Blue circle is the landing site location

Possible vantage points

High slope area (non-navigable)

Lacus Mortis Pit

Low slope area (navigable)

Contour Map Analysis

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Overlay.h (to be added)

Will provide user interface to cycle through potential landing sites that have been generated by the main code

User will be able to toggle visibility of different layers, and save these layers to PNG

Additional layer will display satellite imagery of the lunar surface

Satellite

LOSpercent

Vantage points

Path

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RESULTS