Path Planning for the Pragyan Rover: Experiences and Challenges

The Chandrayaan 3 mission, orchestrated by the Indian Space Research Organisation, achieved historic milestone by landing near the moon’s south pole. A significant feat of this mission was the inaugural extraterrestorial mobility operation employing the Pragyaan Rover, nested within the Vikram Lander. This paper details the semi-autonomous ground-based path planning operations, challenges faced and strategies pivotal to the rover’s mobility endeavors and scientific exploration on the lunar surface. Pragyaan Rover embarked on a multifaceted mission, conducting in-situ scientific experiments, gathering crucial data, and enabling lunar surface mobility. Ground based Rover Path Plannning (RPP) software formed the backbone of the rover’s expedition, meticulouly planning paths considering topographical constraints, scientific exploration priorities and rover safety. Challenges stemming from the unique operational environment and the rover’s constrained mission duration necessitated strategic approaches to ensure continuous data collection, efficient mobility, and timely scientific experimentation. The successful execution of Pragyan RPP operations, the triumphs and lessons learned lay the groundwork for more complex future missions.