Robust Navigation System based on Stress Measurements for Lunar and Planetary Rovers

2014 Fiscal Year Final Research Report

• Project/Area Number: 25880035
• Research Category: Grant-in-Aid for Research Activity Start-up
• Allocation Type: Single-year Grants
• Research Field: Intelligent robotics
• Research Institution: Japan Aerospace Exploration Agency
• Principal Investigator: SUTOH MASATAKU 独立行政法人宇宙航空研究開発機構, 月・惑星探査プログラムグループ, 宇宙航空プロジェクト研究員 (80712851)
• Project Period (FY): 2013-08-30 – 2015-03-31
• Keywords: 月惑星ローバ / テラメカニクス / 航法誘導

Outline of Final Research Achievements

For a development of a slip-robust navigation system for lunar and planetary rovers, a wheel model was first constructed by measuring stress acting on a wheel. Along with a stress measurement system, this model makes it possible to estimate a wheel slippage. Subsequently, localization and path plan systems were developed based on this slippage estimation method. These systems have been verified through various experiments using a rover testbed. In the future, with some modifications/updates, the proposed navigation system is expected to be widely applicable to not only lunar and planetary rovers but also to various field robots.

Free Research Field

工学