In future operations on the lunar surface, automated vehicles will be required to transport cargo between known locations. Such vehicles must be able to navigate precisely in safe regions to avoid natural hazards, human-constructed infrastructure, and dangerous dark shadows. Rovers must be able to park their cargo autonomously within a small tolerance to achieve a successful pickup and delivery. In this field test, Lidar Teach and Repeat provides an ideal autonomy solution for transporting cargo in this way. A one-tonne path-to-flight rover was driven in a semi-autonomous remote-control mode to create a network of safe paths. Once the route was taught, the rover immediately repeated the entire network of paths autonomously while carrying cargo. The closed-loop performance is accurate enough to align the vehicle to the cargo and pick it up. This field report describes a two-week deployment at the Canadian Space Agency's Analogue Terrain, culminating in a simulated lunar operation to evaluate the system's capabilities. Successful cargo collection and delivery were demonstrated in harsh environmental conditions.

翻译：在未来的月球表面作业中，将需要自动化车辆在已知位置之间运输货物。此类车辆必须能够在安全区域内精确导航，以避开自然危险、人工建造的基础设施及危险的暗影区域。漫游车必须能够将货物自主停放在微小容差范围内，以实现成功的取货与交付。本次实地测试中，激光雷达示教复现技术为此类货物运输提供了一种理想的自主解决方案。一辆一吨重的飞行验证漫游车以半自主遥控模式行驶，构建了安全路径网络。路线完成示教后，漫游车立即在载货状态下自主复现了整个路径网络。其闭环控制性能的精度足以实现车辆与货物的精准对接及抓取。本实地报告描述了在加拿大航天局模拟地形场进行的为期两周的部署，最终通过模拟月球作业评估系统性能。该系统在恶劣环境条件下成功演示了货物收集与交付任务。