| Project/Area Number |
22800091
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| Research Category |
Grant-in-Aid for Research Activity Start-up
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| Allocation Type | Single-year Grants |
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| Research Field |
Perception information processing/Intelligent robotics
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| Research Institution | Japan Aerospace Exploration Agency |
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Principal Investigator |
ISHIGAMI Genya 独立行政法人宇宙航空研究開発機構, 宇宙科学研究所, 宇宙航空プロジェクト研究員 (90581455)
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| Research Collaborator |
OTSUKI Masatsugu 独立行政法人宇宙航空研究開発機構, 宇宙科学研究所, 助教
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| Project Period (FY) |
2010 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥3,146,000 (Direct Cost: ¥2,420,000、Indirect Cost: ¥726,000)
Fiscal Year 2011: ¥1,508,000 (Direct Cost: ¥1,160,000、Indirect Cost: ¥348,000)
Fiscal Year 2010: ¥1,638,000 (Direct Cost: ¥1,260,000、Indirect Cost: ¥378,000)
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| Keywords | 月惑星探査 / 移動ロボット / 自律システム / 経路計画 / 動力学 / テラメカニクス / 探査ローバ / 自律移動システム / 確率的アプローチ / 環境認識 / 自己位置推定 / Laser Range Finder |
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| Research Abstract |
In this research project, a statistical mobility prediction method for an exploration rover traveling in uncertain terrain has been elaborated. This method explicitly considers uncertainty of the terrain physical parameters, and employs models of both vehicle dynamics and wheel-terrain interaction mechanics. Additionally, an autonomous mobility framework for a rover, including a terrain mapping, a path planning, and its navigation has been developed in this research. The validity of the framework has been confirmed through field experiments with a rover test bed.
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