月・惑星探査ローバのための生体ゆらぎを用いたヘッド角制御に関する研究

抄録

Craters are the one of the places where rovers are likely to slip down, fall down to the valley and get stuck. Hence, it is important to return to the correct position on the planned path when rovers are out of the right position. Current studies have shown the importance of controlling rover’s heading angle when rovers return to their correct position. However, it is not enough to control rover’s heading angle with model-based control. Therefore, in this paper, newel non-model-based method of controlling heading angle with YURAGI equation is proposed. The effectiveness of proposed method is evaluated by controlled test bed’s heading angle in two situations. From these results, the proposed method using YURAGI equation verified the effectiveness on some situations without the specific physical models for rover’s controls on various ground conditions.