Mobility Evaluation of Lunar Exploration Rover and Development of a Control System for Mobility Optimization
Project/Area Number |
21760374
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Research Category |
Grant-in-Aid for Young Scientists (B)
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Allocation Type | Single-year Grants |
Research Field |
Geotechnical engineering
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Research Institution | Kyushu University |
Principal Investigator |
KOBAYASHI Taizo Kyushu University, 大学院・工学研究院, 助教 (10380578)
|
Project Period (FY) |
2009 – 2010
|
Project Status |
Completed (Fiscal Year 2010)
|
Budget Amount *help |
¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2010: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2009: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
|
Keywords | 土質力学 / テラメカニクス / 月面探査 / 探査ローバー / 移動ロボット / 制御 / テラメカニックス |
Research Abstract |
For future lunar surface exploration missions, robotic wheeled rovers will be promising robots to perform wide-area explorations. In this research, we first developed a lunar soil-wheel interaction model from viewpoints of Soil Mechanics and Terramechanics (mechanics of soil-wheel sysmtems). Second, we proposed a methodology that can reduce excessive wheel slip and maintain vehicle mobility in sandy rough terrain, and developed a six-wheeled robotic vehicle which employs a feedback control system having a simple algorithm of the methodology.
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Report
(3 results)
Research Products
(8 results)