To avoid this, Perseverance checks upcoming relocations and laser shooting utilizing its Rover Collision Model flight software application and autonomously stops any activity prior to a collision could happen. To perform robotic arm accident checks Perseverance forecasts the next arm move into the future and checks if at any point in that relocation it would collide with the rover body. When Perseverance autonomously picks science targets onboard using AEGIS, it uses the Rover Collision Model to filter out any targets that might result in accidents prior to selecting a target for SuperCam targeting.
Rover Collision Model was one of the flight software application modules I designed and configured, so I cant think but help of what its doing in the background.
Illustration of the Mars Perseverance Rover using its SuperCam instrument to laser zap a rock in order to evaluate what its made of. Credit: NASA
NASAs Mars Perseverance Rover has various moving parts, including the robotic arm, drill, mast, instrument covers, high gain antenna, and mobility system. An unintentional crash with the rover body or Martian surface during movement might cause damage that cant be fixed. In addition, the SuperCam instrument shoots the LIBS laser at the surface to carry out and create a plasma spectroscopy, and we also wish to prevent the laser from zapping any part of the rover.
To avoid this, Perseverance checks upcoming moves and laser firing using its Rover Collision Model flight software application and autonomously stops any activity before a crash could happen. To perform robotic arm collision checks Perseverance predicts the next arm move into the future and checks if at any point in that move it would collide with the rover body. When Perseverance autonomously selects science targets onboard utilizing AEGIS, it uses the Rover Collision Model to filter out any targets that may result in accidents prior to choosing a target for SuperCam targeting.
Mars Perseverance Sol 374– Front Right Hazard Avoidance Camera: NASAs Mars Perseverance rover acquired this picture of the location in front of it utilizing its onboard Front Right Hazard Avoidance Camera A. This image was obtained on March 10, 2022 (Sol 374). Credit: NASA/JPL-Caltech
Typically the operations team sends commands to the rover as soon as a sol and Perseverance requires to protect itself if some of those activities dont go as planned. If the drill were to encounter even a small fault, as occurred on Sol 374, the robotic arm might all of a sudden still be in front of the rover, touching the target.
Rover Collision Model was one of the flight software modules I designed and programmed, so I cant assist however think of what its doing in the background. As of sol 460, it has performed over 64,000 crash checks on Mars without error, reporting collisions where expected.
Weve reached Hogwallow Flats. Im anticipating seeing the rover check for much more accidents and zaps as it carries out some interesting science examination.
Written by Vandi Verma, Chief Engineer for Robotic Operations at NASA/JPL.