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There are thousands of asteroids in near-Earth space and millions in the MainBelt. They are diverse in physical properties and composition and are timecapsules of the early solar system. This makes them strategic locations forplanetary science, resource mining, planetary defense/security and asinter-planetary depots and communication relays. However, asteroids are achal-lenging target for surface exploration due it its low but highly nonlineargravity field. In such conditions, mobility through ballistic hopping possessmultiple advantages over conventional mobility solutions and as such hop-pingrobots have emerged as a promising platform for future exploration of asteroidsand comets. They can traverse large distances over rough terrain with theexpenditure of minimum energy. In this paper we present ballistic hoppingdynamics and its motion planning on an asteroid surface with highly nonlineargravity fields. We do it by solving Lambert's orbital boundary val-ue problemin irregular gravity fields by a shooting method to find the initial velocityrequired to intercept a target. We then present methods to localize the hoppingrobot using pose estimation by successive scan matching with a 3D laserscanner. Using the above results, we provide methods for motion planning on theasteroid surface over long distances. The robot will require to performmultiple hops to reach a desired goal from its initial position while avoidingobstacles. The study is then be extended to find optimal tra-jectories to reacha desired goal by visiting multiple waypoints.

Motion Planning on an Asteroid Surface with Irregular Gravity Fields