月面模擬斜面地形における探査ロボットの走行速度制御に関する考察

飯塚 浩二郎; 浦山 泰英; 下田 真吾; 久保田 孝

doi:10.11511/jacc.48.0.152.0

48th Proceedings of the Japan Joint Automatic Control Conference

Session ID : G2-25

DOI https://doi.org/10.11511/jacc.48.0.152.0

Conference information

Host: The Society of Instrument and Control Engineers, The Institute of Systems, Control and Information Engineers, The Japan Society of Mechanical Engineers, The Society of Chemical Engineers, Japan, The Japan Society for Precision Engineering, The Japan Society for Aeronautical and Space Sciences

Co-host: Technically Cosponsored by 43 Socies and Institutes

A Study on Wheel Control for Exploration Robots on Lunar Simulant Terrain

*Kojiro Iizuka, Yashuhide Urayama, Shingo Shimoda, Takashi Kubota

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Keywords: Lunar Rover, Tire-Soil Model, Traction Control

CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract

This paper deals with kinetic behavior of lunar explorer with tire-soil traction mechanism. Experiments are performed to observe the physical dynamics between soils and wheels. The performance of the mobility is discussed based on experiments by changing some parameters, the velocity, the load and the slope. This paper also studies the traction control scheme for wheeled robot. The effectiveness of the proposed scheme is shown by some experiments.

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