月惑星探査のためのToF力メラとトルクセンサーを用いた走行状態推定手法

抄録

This paper describes a traveling state estimation method for lunar and planetary exploration. The purpose of this research is to estimate a robot state such as sinkage, slippage and driving torque for using a 4-wheeled robot in loose soil, in order to adapt the environment where those parameters change dynamically. A time-of-flight (ToF) camera and torque sensors are mounted on the robot, and each values are estimated by obtained raw data. The proposed estimation method is experimentally evaluated by straight running experiment. In this experiment, condition is changed the wheel shape and the soil.