ONBOARD PLANNING FOR THE MARS 2020 PERSEVERANCE ROVER

The Mars 2020 Mission is developing a scheduler for use onboard the Mars 2020 Perseverance Rover. The purpose of this scheduler is to adjust the activities to account for variances in onboard resources (e.g. available energy) or execution (e.g. activity failures or activities taking shorter or longer than expected). The onboard scheduler is a priority-first non backtracking scheduler. The scheduling problem is challenged by: (1) limited onboard computing resources; (2) scheduler/execution interactions; (3) energy management including scheduling of wakeup and shutdown; (4) and thermal management (preheat and maintenance heating for mechanical actuation). We overview how these challenges are addressed in the scheduler design. We also discuss the ground software being developed to support operations with onboard autonomy. We also describe the current status and target deployment timeline.

火星2020任务（Mars 2020 Mission）正为火星2020毅力号火星车（Mars 2020 Perseverance Rover）开发机载调度器（onboard scheduler）。该调度器的核心目标是针对机载资源（如可用能量）或任务执行偏差（如任务失败、实际执行时长与预期不符），对任务活动进行适配调整。这款机载调度器采用优先级优先且无回溯的调度策略。该调度问题面临以下多重挑战：(1) 机载计算资源受限；(2) 调度与执行环节的交互耦合；(3) 能量管理需求，涵盖唤醒与关机的调度规划；(4) 热管理需求，包括机械驱动装置的预热与维持性加热。本文概述了该调度器设计中针对上述各项挑战的解决方案。此外，本文还讨论了为支撑机载自主运行而开发的地面软件系统。同时，本文还介绍了该项目的当前进展与计划部署时间表。