惑星探査ローバのための単眼画像にもとづく経路計画方式の検討

抄録

The autonomous navigation system is required for planetary exploration rovers to drive to the destination. The conventional navigation systems always perform processing with a large load. Therefore, it takes long time to traverse to the destination. It is necessary for rovers itself to select the behavior modes of navigation according to the environment so that a rover drives faster and efficiently. In this paper, a method is proposed in which the rover autonomously selects the path planning method based on the monocular images. A simulation study is conducted to evaluate the effectiveness of the proposed method.