小型ホッピングローバのための照度を用いた太陽方向及び姿勢推定法の検討

抄録

In recent years, the eyes of the world has been upon a space exploitation mission with a micro robotic science probe such as MINERVA, MINERVA2 and son on, which mostly have been used under micro gravity environment. However we can find enough room in a launching vehicle and have many chances launching micro robots for large gravity environment, and they are expected for a lot of scientific results. In this paper, we discuss a micro rover for heavenly bodies, and propose some designs of one wheeled hopping rovers under a severe conditions for launching size and weight. Its basic behavior flow is also discussed with some technical subjects, and finally we focus on direction recognition with illuminance dependence of the sun light. According to this estimation of sun direction, the rover will be able to navigate to a goal point or area by itself. Here, we discuss a method to estimate the direction of the sun with some photo diodes, and also mention about arrangements and minimum number of diodes.