月面探査ローバの車輪走行跡を利用したスリップ率推定法の提案

抄録

A planetary exploration rover is required to run on the designated route in an environment where slip and stack easily occurs. Therefore, self-location estimation is important for the planetary exploration rovers, but the current estimation methods have disadvantages and it is necessary to improve the accuracy of self-location estimation. In this research, we propose a method to estimate the slip ratio by detecting the rut which is the running trace of the rover, and verify its effectiveness. As a result, the slip ratio estimation method using rut was effective, but improvement of rut detection method has been necessary.