Mobility and Autonomous Systems for a Lunar/Planetary Exploration Rover based on a Stochastic Approach

2011 Fiscal Year Final Research Report

• Project/Area Number: 22800091
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Single-year Grants
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Japan Aerospace Exploration Agency
• 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)
• 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
• Project Period (FY): 2010 – 2011
• 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

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.

Research Products

• [Journal Article] 自立移動ロボットによる火山地域の探査活動 (2012)
  • Author(s): 大槻真嗣,石上玄也, ほか
  • Journal Title: 日本惑星科学会誌 Volume: Vol.21, No.2 Pages: 111-120
  • Peer Reviewed
• [Journal Article] Path Planning and Evaluation for Planetary Rovers Based on Dynamic Mobility Index (2011)
  • Author(s): G. Ishigami, K. Nagatani, and K. Yoshida
  • Journal Title: Proc. of the 2011 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems Pages: 601-606
  • DOI: DOI:10.1109/IROS.2011.6094768
  • Peer Reviewed
• [Journal Article] Development of a Visual Odometry System for a Wheeled Robot on Loose Soil Using a Telecentric Camera (2010)
  • Author(s): K. Nagatani, A. Ikeda, G. Ishigami, K. Yoshida, and I. Nagai
  • Journal Title: Advanced Robotics Volume: Vol.24, No.8-9 Pages: 1149-1167
  • Peer Reviewed
• [Journal Article] Statistical Mobility Prediction for Planetary Surface Exploration Rovers in Uncertain Terrain (2010)
  • Author(s): G. Ishigami, G. Kewlani, and K. Iagnemma
  • Journal Title: Proc. of the 2010 IEEE Int. Conf. on Robotics and Automation Pages: 588-593
  • DOI: DOI:10.1109/ROBOT.2010.5509300
  • Peer Reviewed
• [Presentation] Advanced Visual Odometry for Planetary Exploration Rover (2012)
  • Author(s): K. Otsu, M. Otsuki, G. Ishigami, and T. Kubota
  • Organizer: Int. Symp. on Artificial Intelligence, Robotics and Automation in Space 2012
  • Place of Presentation: Turin/Italy
  • Year and Date: 2012-09-06
• [Presentation] LIDAR-based Terrain Mapping and Navigation for Planetary Exploration Rover (2012)
  • Author(s): G. Ishigami, M. Otsuki, and T. Kubota
  • Organizer: Int. Symp. on Artificial Intelligence, Robotics and Automation in Space 2012
  • Place of Presentation: Turin/Italy
  • Year and Date: 2012-09-04
• [Presentation] Path Planning and Navigation Framework for a Planetary Exploration Rover using a Laser Range Finder (2012)
  • Author(s): G. Ishigami, M. Otsuki, and T. Kubota
  • Organizer: The 8th International Conference on Field and Service Robots
  • Place of Presentation: Matsushima/Japan
  • Year and Date: 2012-07-18
• [Presentation] 自然地形におけるビジュアルオドメトリのための特徴点抽出手法に関する検討 (2012)
  • Author(s): 大津恭平,大槻真嗣,石上玄也,久保田孝
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2012
  • Place of Presentation: アクトシティ浜松
  • Year and Date: 2012-05-29
• [Presentation] 火星複合探査計画MELOSにおける探査ローバの工学的検討 (2012)
  • Author(s): 石上玄也,久保田孝, ほか
  • Organizer: 第12回宇宙科学シンポジウム
  • Place of Presentation: 宇宙科学研究所
  • Year and Date: 2012-01-05
• [Presentation] 移動探査ローバのフィールド走行試験 (2012)
  • Author(s): 大槻真嗣,石上玄也, ほか
  • Organizer: 第12回宇宙科学シンポジウム
  • Place of Presentation: 宇宙科学研究所
  • Year and Date: 2012-01-05
• [Presentation] Field Tests on Intelligent Exploration for Planetary Rover (2011)
  • Author(s): T. Kubota, M. Otsuki, T. Shimada, G. Ishigami, et al.
  • Organizer: 2011 PERC Planetary Geology Field Symposium
  • Place of Presentation: Kitakyushu
  • Year and Date: 2011-11-06
• [Presentation] Load Distribution Control of a Six-Wheeled Robotic Vehicle in Rough Terrain (2011)
  • Author(s): T. Kobayashi, G. Ishigami, K. Nagatani, and K. Tateyama
  • Organizer: The 17th Int. Conf. of the Int. Society for Terrain-Vehicle Systems
  • Place of Presentation: Blacksburg/VA
  • Year and Date: 2011-09-22
• [Presentation] 探査ローバの走行特性に基づいた経路計画と経路評価手法の提案 (2011)
  • Author(s): 石上玄也
  • Organizer: 第21回アストロダイナミクスシンポジウム
  • Place of Presentation: 宇宙科学研究所
  • Year and Date: 2011-07-26
• [Presentation] テラメカニクスに基づいた弾性車輪および剛性車輪の力学モデルの提案 (2011)
  • Author(s): 石上玄也,大槻真嗣,久保田孝
  • Organizer: 日本機械学会第12回運動と振動の制御シンポジウム
  • Place of Presentation: メルパルク長野
  • Year and Date: 2011-06-29
• [Presentation] 柔軟構造を持つ惑星探査ローバの沈下と振動の同時抑制方法の提案 (2011)
  • Author(s): 大槻真嗣,石上玄也,成田伸一郎,若林幸子
  • Organizer: 日本機械学会第12回運動と振動の制御シンポジウム
  • Place of Presentation: メルパルク長野
  • Year and Date: 2011-06-29
• [Presentation] 砂質不整地を走行する車輪型移動ロボットの荷重等分配制御に関する研究 (2011)
  • Author(s): 小林泰三,石上玄也, ほか
  • Organizer: 日本機械学会第12回運動と振動の制御シンポジウム
  • Place of Presentation: メルパルク長野
  • Year and Date: 2011-06-29
• [Presentation] Experimental Study on Mobility and Navigation for Exploration Rover in Natural Rough Terrain (2011)
  • Author(s): M. Otsuki, G. Ishigami, et al.
  • Organizer: The 28th Int. Symp. on Space Technology and Science
  • Place of Presentation: Okinawa/JAPAN
  • Year and Date: 2011-06-09
• [Presentation] Modeling of Flexible and Rigid Wheels for Exploration Rover on Rough Terrain (2011)
  • Author(s): G. Ishigami, M. Otsuki, T. Kubota, and K. Iagnemma
  • Organizer: The 28th Int. Symp. on Space Technology and Science
  • Place of Presentation: Okinawa/JAPAN
  • Year and Date: 2011-06-08
• [Presentation] 探査ローバ搭載LRFによる3次元地形計測実験 (2011)
  • Author(s): 石上玄也,大槻真嗣,久保田孝
  • Organizer: 第11回宇宙科学シンポジウム
  • Place of Presentation: 宇宙科学研究所
  • Year and Date: 2011-01-06
• [Remarks] アウトリーチ活動:探査ロボットのデモンストレーション(東京大学博物館,宇宙科学研究所など)
• [Remarks] 教育広報用資料: JAXA宇宙科学研究所DVD第14巻「The ROVER今,宇宙は,探査ロボットの時代へ」製作協力