Lunar Lava Tube Exploration with CubeRover: Wandering Observer of Lunar Features (WOLF) Rover

View Video Presentation: https://doi.org/10.2514/6.2023-0016.vid With the current interest in developing a human presence on the moon, there is a growing need to research potential sites for long-term habitation. Lava tubes, subsurface tunnels leftover from the moon's cooling process, may provide an ideal location for a lunar habitat; they provide shelter from harmful radiation environments, impact debris, and lunar surface temperature f luctuation. Surface imagery has provided a list of potential locations of lunar lava tubes; however, the subsurface nature of these features limits the capabilities of satellite missions to locate and characterize them. This research proposes the design and use of the Wandering Observer of Lunar Features (WOLF) Rover for such a purpose. The WOLF Rover is a wheeled CubeRover built from commercial off-the-shelf components following the 12U Space Launch System (SLS) CubeSat guidelines. The WOLF Rover aims to traverse the lunar surface, identify the existence of a lunar lava tube candidate, map the segments of the lava tube, and transmit all data back to the Ground Station for processing and analysis. The investigation of the lava tube, and surrounding terrain, will be achieved with a camera and a scanning LiDAR. Trade studies were conducted to select design features and space-grade components. A prototype using non-space-rated components was constructed and demonstrated the WOLF Rover's ability to navigate the challenging terrain of the moon. Risk management strategies were applied to both the proposed mission and the prototype development to assess potential hazards and develop mitigation plans. Validation and verification testing was conducted for the prototype on a component level as well as at a system level. Component testing included but was not limited to solar panel performance tests, electronic speed controller performance testing, and inertial measurement unit calibration and validation. System testing included endurance testing, sand driving performance testing, obstacle scaling testing, and data transfer testing.