拡張Inching Locomotiong型月・惑星探査ローバによる横滑りの抑制手法の検討

抄録

Planetary exploration is being carried out for the expansion of the area for human and the development of science and technology. The planet surface is covered with regolith, which is loose soil, and have many slopes because of craters. Therefore, when rovers cross the slopes, traveling without lateral slip is required to avoid indicating miss direction. In this research, we propose a high traveling performance for rover against slope using four wheels independently by inching locomotion. This study focused on reduction of lateral slip by camber when wheels sank, and returning the path by changing azimuth when wheels were moving.