ABSTRACT
As a part of the AMADEE-18 analog Mars mission, designed to study challenges associated with human-based exploration of the Red Planet, we focused our team efforts on testing means to localize an unmanned aerial vehicle (UAV) on Mars. Robot helicopters, such as the one selected for a technology demonstration as a part of NASA's Mars 2020 mission, are small and their performance is computationally limited. An essential aspect of navigation and path planning of an autonomous helicopter is accurate localization of the robot. In the absence of a global positioning system, a computationally efficient localization technology that can be applied on Mars is visual-inertial odometry (VIO). The AMADEE-18 mission provided an opportunity to test the feasibility of a state-of-the-art VIO algorithm and the camera in a Mars-like analog environment. The flight datasets included different terrain structures that challenged the functionality of VIO algorithms. The experiment has yielded valuable insights into the desired surface structure, texture, and mission times for surface relative navigation of UAV on Mars.
