小型探査ローバのためのレーザーレンジファインダーによる環境認識

雲 凱, 外本 伸治

研究成果: Contribution to journalArticle査読

抄録

This paper deals with an environment recognition system which is suitable for small-sized autonomous exploration rovers working on a planet far from Earth. The recognition system consists of a scanning type laser-range-finder and attitude sensors. Because rovers equipped with the proposed system can continue to move on terrains, the system makes it possible for a small sized rover to traverse as a long distance as large rovers under a restriction on its limited mission duration. In this paper the performance of the proposed system is evaluated in both numerical simulations and experiments, considering the effects of sensor errors. Moreover, methods to evaluate estimation accuracy for environmental recognition techniques and to estimate the slip rate of moving rover in short time intervals are introduced.
寄稿の翻訳タイトルEnvironment recognition through laser-range-finder for small exploration rover
本文言語日本語
ページ(範囲)15-00550-15-00550
ジャーナル日本機械学会論文集
82
835
DOI
出版ステータス出版済み - 2016

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