| Project/Area Number |
08455202
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
計測・制御工学
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| Research Institution | Institute of Space and Astronautical Science |
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Principal Investigator |
NAKATANI Ichiro Institute of Space and Astronautical Science, Spacecraft Engineering Division, Professor, 宇宙探査工学研究系, 教授 (40150049)
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| Co-Investigator(Kenkyū-buntansha) |
KUBOTA Takashi Institute of Space and Astronautical Science, Spacecraft Engineering Division, R, 宇宙探査工学研究系, 助手 (90211888)
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| Project Period (FY) |
1996 – 1997
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| Project Status |
Completed (Fiscal Year 1997)
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| Budget Amount *help |
¥6,600,000 (Direct Cost: ¥6,600,000)
Fiscal Year 1997: ¥3,000,000 (Direct Cost: ¥3,000,000)
Fiscal Year 1996: ¥3,600,000 (Direct Cost: ¥3,600,000)
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| Keywords | Sensor / Environment Recognition / Micro Scanning / Laser Range Sensor / Distance Image / Oath Planning / Navigation / レンジセンサ / MEMS / 2次元スキャン / 振動子 / 圧電アクチュエータ |
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| Research Abstract |
We proposed a new type of scanning laser range sensor for recognizing three dimensional environment. The proposed sensor has advantages of small size, light weigh, and low power consumption with the help of micro electrical mechanical system technology. We developed a miniature two dimensional optical sensor which is driven by a piezoelectric actuator. We could succeed in making maps of natural terrains by using our developed sensor. By experiments, we comfirmed the validity of the new mechanism of a micro scanning laser range sensor. We could obrtain very good experimental results on sensing accuracy.
We also studied path planning and navigation for planetary rover by using the developed sensor. We proposed an extended elevation map, which included the effect of the size of the rover. We also proposed a path planning scheme based on traversability probability. And then we studied the fast navigation algorithm for planetary rover based on fuzzy resoning. The validity of the proposed methods was verified by computer simulation and experomental results.
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