2010 Fiscal Year Final Research Report
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 |
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| Research Field |
Geotechnical engineering
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| Research Institution | Kyushu University |
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Principal Investigator |
KOBAYASHI Taizo Kyushu University, 大学院・工学研究院, 助教 (10380578)
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| Project Period (FY) |
2009 – 2010
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| 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 |
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| 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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