フォトダイオードを用いた光源方向推定システムの検討

抄録

In recent years, small Planetary probe in the microgravity environment such as MINERVA, MINERVA 2, is attracting attention rather than the planetary exploration with the conventional large rover. In this paper, we presented a micro hopping rover proposed by this laboratory as an example, propose a method on rover ’s behavioral strategy and direction estimation in sunlight towards reaching a target point which is a mission of a micro hopping rover, discuss the estimation sensing. Also, in order to ascertain the validity of the direction estimation in the proposed method, we create a trial hexahedron experimental device with photodiodes on each side, conduct an experiment, and consider the experimental results.