C4 情報量フィードバックを用いたローバ誘導則

概要

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This paper presents a new guidance law for a lunar exploration rover. Information of terrain is not always satisfied for the guidance system in exploration. Although a rover has to avoid rocks or holes on the way, the existence of small objects cannot be known prior to the path planning. Such objects are recognized through the visual information, thus quick motion is necessary to avoid the object when there is a visual obstacle. In order to avoid hard maneuver, the new guidance law uses the information amount of visual sensor. The rover is guided to the position where the visual information amount satisfies the requirement of safety. The numerical results show that the guidance law provides moderate avoidance maneuver even if an object exists behind a large visual obstacle.
社団法人日本機械学会の論文
2009-01-23