Path Planning in Dynamic Spatio-Temporal Space for the Lunar Surface

Document Type

Conference Proceeding

Publication Date

1-1-2026

Abstract

Upcoming NASA missions to the moon and other celestial bodies will increasingly rely on autonomous and semiautonomous robotic systems. Initial mission planning for these systems often relies on course resolution remote sensing data. This data can include constraints on the robots, such as rough terrain, as well as important scientific sites, such as areas with increased mineral content. In addition to these fixed constraints, mission planners must also take into account time-varying constraints, such as time in sun and shadow for solar-powered components and communication windows based on satellite positions. Here we present a tool to help mission planners determine safe, efficient, and robust paths for robotic missions based on the TATERS (Tools for Autonomous Terrain Exploration of Remote Spaces) toolbox. The mission planning component of TATERS contains: 1. Methods for generating multiscale adaptive graphs of the environment based on remotely sensed data 2. Methods for finding the best paths through time-varying environments 3. Methods for assessing path risk based on the uncertainty of remotely sensed data. In this paper, we will define the algorithms underlying each of these methods. In addition, we will demonstrate example usage based on a lunar traverse near the south pole using current course resolution lunar data, and nominal communication windows based on a single satellite in orbit.

Publication Title

IEEE Aerospace Conference Proceedings

ISBN

[9798331573607]

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