Description: Cislune and UCF propose to develop anti-slip algorithms to identify wheel slip autonomously to avoid getting stuck, a potentially mission ending danger that if you can lower the risk of, allows faster traverse and more productive missions. The algorithms will also be optimized to create continuous recompaction of lunar roads and landing zones, avoiding the wheel-churn of driving. Using some of the same data and rover parts, we will develop algorithms and testing to generate normal and axial shear stress geotechnical data using un-modified rover wheels. Cislune and UCF will develop proof of concept algorithms in lab and field testing. Based upon this data, we will create an architecture and ConOps for preparing a lunar landing site with pads, berms, and pathways. These innovations together will enable effective construction of bulk regolith infrastructure that is then tested to verify the as-built characteristics to meet the civil engineering requirements that will be developed.

Benefits: Refuse-to-get-stuck and wheel geotechnical data gathering directly map to NASA STMD’s Strategic Framework thrusts of Live - ISRU, advanced construction, and advanced habitation systems as well as Explore - advanced robotics, autonomous systems, and advanced manufacturing. These technologies can be applied to existing rovers enabling greater autonomy and efficiency.

Lunar commercial rovers and excavation companies will benefit from these algorithms to avoid getting stuck and having greater autonomy. Particularly as rovers and excavators begin to operate in PSR and during both lunar day and night periods when surface visual conditions are significantly different.