Research/ PLANETARY ROBOTICS
Slip Computation of Chandrayaan 3 Rover using Chandrayaan 2 High Resolution Camera Images
Chinmay S. Mhatre, Rima Ghosh, Shashank Tomar, Motamarri Srikanth, Navale Sonal Girdharlal, Indrakanti Santa Raghuma, Kaushlendra Kumar Kaushal, M S Siva
Surface Mobility & TerramechanicsOpenAlex topic: Soil Mechanics and Vehicle Dynamics · Perception & State EstimationOpenAlex topic: Robotics and Sensor-Based Localization
Chandrayaannamed in title, abstract, keywords
On August 23 2023, Chandrayaan-3 achieved a historic milestone by successfully executing a soft landing near the lunar south pole. Following the landing, Pragyan rover became the first rover to traverse this region, covering over 100 meters within a single lunar day. This paper presents a comprehensive analysis of Pragyan’s locomotion across the lunar surface. By correlating the rover’s commanded trajectory with its wheel trace captured by the Orbiter High Resolution Camera (OHRC) onboard Chandrayaan-2, we quantify deviations arising from interaction with the lunar regolith. The study introduces a methodology for estimating slip experienced by the rover. Quantitative results on slip percentages are reported across multiple mobilities, offering insights into locomotion under different terrain and regolith conditions.