| Co-Investigator(Kenkyū-buntansha) |
KUBOTA Takashi The Institute of Space and Astronautical Science Spacecraft Engineering Division,Associate Professor, 宇宙探査工学研究系, 助教授 (90211888)
HASHIMOTO Tatsuki The Institute of Space and Astronautical Science Spacecraft Engineering Division,Associate Professor, 宇宙探査工学研究系, 助教授 (70228419)
ICHIRO Jun The Institute of Space and Astronautical Science System Engineering Division,Professor, システム研究系, 教授 (10169691)
MARUYA Makoto NEC,Corporation,Research Laboratories,Researcher, 主任
SAWI Shujiro The Institute of Space and Astronautical Science Spacecraft Engineering Division,Research Associate, システム研究系, 助手 (30270440)
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| Research Abstract |
Autonomous landing system for deep space exploration has been studied focusing on sensors, sensory information processing, terrain recognition based on image, and navigation, guidance and control of spacecraft. To evaluate the performance of the landing system, the graphical landing simulator has been developed, which has various kinds of functions, planetary surface modeling, sensory model generation, spacecraft dynamics design, navigation and guidance etc. The authors proposed a global mapping method based on moving stereo-vision technique and rim and shadow information. The authors developed a modeling scheme to build various kinds of planetary surface including craters and rocks. The authors also proposed a method to extract features on planetary images and a navigation method to estimate the relative position, velocity and attitude with respect to the surface by using range information and image information. The authors also succeeded in developing terrain recognition for obstacle avoidance and precise navigation and guidance of spacecraft to the landing site. The validity and effectiveness of the proposed methods were confirmed and verified by computer numerical simulations and the graphical landing simulator. These results show that it is possible to build good autonomous landing system which has robustness and high reliability. Good landing system is expected to contribute to the planetary science.
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