Path Planning for Rovers on the Moon Based on Shadow Estimation

Material type: 文書・図像類

Author: 須藤, 真琢ほか

Publisher: 宇宙航空研究開発機構(JAXA)

Publication date: 2017-07-28

Material Format: Digital

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Note (General)：: In future lunar exploration, mobile robots (i.e., rovers) are required to travel long distances; thus, these rovers will experience severe power limit...

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Material Type: 文書・図像類
Title: Path Planning for Rovers on the Moon Based on Shadow Estimation
Author/Editor: 須藤, 真琢
大槻, 真嗣
若林, 幸子
星野, 健
Sutoh, Masataku
Otsuki, Masatsugu
Wakabayashi, Sachiko
Hoshino, Takeshi
Author Heading: 須藤, 真琢
大槻, 真嗣
若林, 幸子
星野, 健
Sutoh, Masataku
Otsuki, Masatsugu
Wakabayashi, Sachiko
Hoshino, Takeshi
Publication, Distribution, etc.: 宇宙航空研究開発機構(JAXA)
Publication Date: 2017-07-28
Publication Date (W3CDTF): 2017-07-28
Periodical title: 宇宙航空研究開発機構研究開発資料 = JAXA Research and Development Memorandum
No. or year of volume/issue: JAXA-RM-17-001E
Volume: JAXA-RM-17-001E
Pages: 1-9
ISSN (Periodical Title): ISSN : 2433-2224
Text Language Code: eng
Subject Heading: Lunar rovers
Path-planning
Shadow
Target Audience: 一般
Note (General): In future lunar exploration, mobile robots (i.e., rovers) are required to travel long distances; thus, these rovers will experience severe power limitations. In such exploration missions, the power limitation on the Moon, i.e., the balance between consumed power and that generated by the rover, should be taken into account for motion/path planning. Power generated by solar panels is a possible resource, which is determined depending on the condition of shadows. From this possibility, this study evaluates the influence of these shadows on path planning for lunar rovers by using a proposed path planning method, in which the power limitation is introduced as a new evaluation index. For this evaluation, we developed a path-planning simulator based on a method using digital elevation models (DEMs) derived from Kaguya data. In the simulation, the terrain inclination and shadow on the Moon are estimated by using the DEMs. Using this simulation, path planning is conducted under various insolation (i.e., shadow) conditions corresponding to latitude, longitude, and time for a given terrain. The simulation results show that the power level can be increased in a planned path by considering the influence of the shadow. The effectiveness of the proposed path-planning method is quantitatively confirmed, particularly for an exploration mission conducted in the morning and evening at middle/high latitudes.
形態: カラー図版あり
Physical characteristics: Original contains color illustrations
資料番号: AA1730001000
レポート番号: JAXA-RM-17-001E
Access Restrictions: 限定公開
Data Provider (Database): 国立情報学研究所 : 学術機関リポジトリデータベース（IRDB）（機関リポジトリ）
https://irdb.nii.ac.jp
Original Data Provider (Database): 宇宙航空研究開発機構 : 宇宙航空研究開発機構リポジトリ