D4 情報量フィードバックを用いたローバ誘導則の最適性(月探査(2))

概要

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This paper discusses on the optimality of guidance law for a lunar exploration rover. The authors proposed that the guidance law uses the information, amount of visual sensor. 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 rover is guided to the position where the visual information amount satisfies the requirement of safety. In this paper, the avoidance maneuver is defined as an optimal control problem. The numerical results show the optimal initial conditions, which are compared with the maneuver provided by the guidance law.
2010-01-28