Скачать или смотреть LunaBot: Autonomous Navigation of Robot for Lunar Habitats (SIH - 25169 ) by TERRIBLE EMPIRES

LunaBot — Autonomous Navigation of Robot for Lunar Habitats
Overview

LunaBot is an autonomous robotic system designed to operate within simulated lunar habitats, focusing on mapping, navigation, and maintenance support using the Robot Operating System (ROS2).
The goal is to develop a robot capable of performing routine operations and safety monitoring in GPS-denied, low-gravity lunar environments, ensuring reliability and reducing astronaut workload during extended lunar missions.

Problem Statement

Future lunar bases will require continuous monitoring and maintenance to ensure astronaut safety and system stability.
However, the Moon’s absence of GPS, harsh environmental conditions, and limited human presence make manual navigation and inspection tasks difficult.
Hence, there is a critical need for autonomous robots that can navigate, map, and inspect habitats safely and intelligently.

Proposed Solution:

LunaBot is a ROS2-based prototype that performs:

Autonomous navigation in both indoor and outdoor lunar habitat environments.

Simultaneous localization and mapping (SLAM) using sensor fusion from LiDAR, IMU, and camera.

Obstacle detection and avoidance using laser and depth data.

Environmental parameter monitoring, such as temperature and oxygen levels (simulated).

Routine patrols and alert signaling for anomaly detection and safety assurance.

The system integrates Gazebo simulation for physics and terrain modeling and RViz for real-time visualization. The navigation stack is built using SLAM Toolbox and Nav2, enabling path planning and dynamic obstacle handling.

Technical Implementation:

Platform: ROS2 Humble Hawksbill

Simulation Tools: Gazebo Harmonic, RViz2

Mapping: SLAM Toolbox (Online Synchronous Mode)

Navigation: Nav2 stack (with AMCL localization and DWB controller)

Sensors (simulated): LiDAR, IMU, RGB camera, environmental sensors

Control: Teleoperation and autonomous goal-based navigation

Environment: Custom Gazebo world representing a lunar surface habitat with reduced gravity and terrain textures.

Expected Outcomes:

A fully functional ROS2 package that performs mapping, localization, and autonomous navigation in a simulated lunar environment.

A demonstration video showcasing LunaBot exploring and navigating the habitat autonomously.

Optional monitoring module simulating environmental data collection and alert mechanisms.

Innovation

Simulates lunar-like conditions (no GPS, limited light, low gravity).

Combines navigation and maintenance functionalities in one robot.

Modular ROS2 design allows easy extension for real hardware deployment.

Supports autonomous decision-making and situational awareness through real-time mapping and sensor data fusion.

Applications

Future Lunar and Martian base exploration.

Autonomous maintenance for space habitats and research facilities.

Disaster or hazardous zone robotics on Earth (GPS-denied environments).

TEAM NAME : TERRIBLE EMPIRES
TEAM ID : 105546
CATERGORY : SOFTWARE