Conceptual Design of Martian Aerial Robots

Abstract

This thesis addresses the design and optimisation of rotary Vertical Take-Off and Landing (VTOL) aerobots for Mars exploration. Current surface exploration robots, such as rovers and landers, are constrained by their limited mobility in accessing Mars’ diverse and rugged terrain. To overcome these challenges, this research investigates the feasibility and performance of aerobots as a complementary solution, building on NASA's Ingenuity Helicopter technology demonstrator. The research focuses on overcoming the engineering challenges posed by Mars' thin atmosphere, low gravity, and extreme environmental conditions. A structured framework is developed to systematically integrate environmental constraints and mission-specific requirements into the aerobot design process. Central to the study is the adaptation of helicopter momentum theory for Martian conditions, providing a theoretical basis for estimating power consumption and rotorcraft performance during key flight phases, including hover, vertical climb, and forward flight. Following the theoretical groundwork, a parametric analysis evaluates several rotorcraft configurations such as single-rotor, dual, quadcopter, and hexacopter, focusing on power efficiency, lift capacity, and operational feasibility. Among the configurations analysed, hexacopters demonstrate superior stability, redundancy, and power efficiency, making them the most promising design for Martian missions. The research also develops practical design variants for the proposed aerobots, addressing deployment challenges such as packaging within spacecraft aeroshells through the implementation of foldable rotor systems. These innovations ensure that the aerobots meet the spatial constraints of Mars exploration missions while maximising performance. The findings from this research provide a foundation for future Mars aerobot development, with recommendations for further computational modelling and experimental validation to enhance reliability in mission-critical applications.