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Sensors for autonomous navigation and hazard avoidance on a planetary microrover

A sensor selection and design process for a small planetary rover is presented for the purpose of autonomous navigation and hazard avoidance. The selection process includes an overview of the options in methods and hardware, followed by the choice/design of sensors based on the performance requirements, vehicle constraints, and other factors. Emphasis is on the design methodology from a systems engineering perspective. Because of the need for prototype microrover demonstrations, real issues of cost and availability were strong drivers in the design. These issues, along with the platform limitations, have led to a practical sensor selection for an autonomous planetary microrover.