A Platform for Autonomous Lunar Rover Rescue

When NASA's Artemis astronauts return to the Moon, they will bring Lunar Terrain Vehicles (LTV) to help explore and set up a permanent presence on the Moon. The astronauts will pilot multiple LTVs to help transport supplies, collect research samples, and survey the lunar surface. Each LTV is expected to do these same tasks autonomously while the astronauts are away. If an LTV was entrapped in lunar regolith, tip over while maneuvering, or break down from the harsh environment, there is currently no way of saving it. If NASA cannot save the stuck LTV, they will incur the cost of the LTV, the investment it took to transport a vehicle of that mass to the Moon, and the decrease in productivity while astronauts are not on the surface. This is a problem that must be solved before long term lunar automation can be feasible. We propose a solution to modify the current LTV requirements such that the robotic arm can autonomously use the on-board winch to save a fellow LTV from a lunar grave. In this paper, we present a system design comprising of a winch motor and robotic manipulator capable of autonomous use. A demonstration of our robotic manipulator utilizing a winch system autonomously is presented.