Motion Planning of Intelligent Explorer for Asteroid Exploration Mission
Motion Planning of Intelligent Explorer for Asteroid Exploration Mission
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DOI：
10.5772/6011
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发表时间：
2008-06
期刊：
影响因子：
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通讯作者：
T. Kubota;T. Hashimoto;J. Kawaguchi
中科院分区：
文献类型：
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作者：
T. Kubota;T. Hashimoto;J. Kawaguchi
对小行星或彗星等小天体的现场观测在科学上非常重要，因为它们的体积太小，不会有很高的内部压力和温度，这意味着它们应该保持太阳系的早期化学成分。近年来，一些小天体交会或样本返回任务受到了世界各国的广泛关注。迄今为止，近地(Farquhar，2001)、深空1号(Rayman等人，2000年)、深度撞击(深撞击，Chiu等人，2000年)和星尘(Atkins，等人，2000年)已经成功执行了任务，而缪斯-C(Kawaguchi等人，2000年)和罗塞塔(Rosetta，Wittmann等人)也已成功执行了任务。1999)目前正在运作。2000年2月，NEAR航天器成功送入小行星433 Eros的轨道。经过精确的遥感观测，NEAR航天器于2001年2月成功硬着陆在爱神星表面。与此同时，在日本，ISAS(空间与宇航科学研究所)于2003年向一颗近地小行星1998SF36发射了一颗小行星样本并返回航天器MUSE-C，并于2005年在该小行星上进行了软着陆。在深空任务中，由于通信时延和低比特率通信，地面操作非常有限。因此，深空探测需要自主性。另一方面，由于事先几乎不知道目标小行星的信息，因此使用机器人技术使航天器能够安全地接近、交会和降落在小行星上。各种先进和智能的机器人技术(Kubota等人2001)，并用于导航和指导探险者着陆和采集样本。本章详细介绍了样机返回任务缪斯-C的概况、降落和着陆场景、基于视觉的导航方案、基于传感器的运动规划、自主功能和飞行结果。本章的结构如下。第2节描述了缪斯-C航天器的任务目的和配置。在第三节中，介绍了导航传感器。在第四节中讨论了自主进场和着陆的策略。介绍了一种基于导航传感器的自主下降方案。第五节提出了一种基于视觉的导航方案。在第6节中，介绍了缪斯-C任务的飞行结果。最后，第7节是讨论和结论部分。
In-situ observations of minor bodies like asteroids or comets are scientifically very important because their sizes are too small to have high internal pressures and temperatures, which means they should hold the early chemistry of the solar system. In recent years, some rendezvous or sample-return missions to small body have received a lot of attention in the world. To date, the missions of NEAR (Farquhar, 2001), Deep Space 1 (Rayman et al., 2000), Deep Impact (Chiu et al., 2000), and Stardust (Atkins, et al., 2000) have been successfully performed, while MUSES-C (Kawaguchi et al., 2000) and Rosetta (Wittmann, et al. 1999) are currently in operation. NEAR spacecraft was successfully put into the orbit of the asteroid 433 Eros in February 2000. After precise remote-sensing observations, NEAR spacecraft succeeded in hard-landing on the surface of EROS in February 2001. In Japan, meanwhile, ISAS (Institute of Space and Astronautical Science) launched an asteroid sample and return spacecraft MUSES-C toward a near Earth asteroid 1998SF36 in 2003 and performed soft landing on the asteroid in 2005. In deep space missions, ground based operation is very limited due to the communication delay and low bit-rate communication. Therefore, autonomy is required for deep space exploration. On the other hand, because little information on the target asteroid is known in advance, robotics technology is used for the spacecraft to approach, rendezvous with, and land on the asteroid safely. Various kinds of advanced and intelligent robotics technologies (Kubota et al. 2001) have been developed and used for navigation and guidance of the explorer to touch down and collect samples. This chapter describes the outline of the sample return mission MUSES-C, descent and touch-down scenario, vision based navigation scheme, sensor based motion planning, autonomous functions, and flight results in detail. This chapter is structured as follows. Section 2 describes the mission purpose and the configuration of MUSES-C spacecraft. In Section 3, navigation sensors are explained. In Section 4 discusses the strategy for autonomous approach and landing. Autonomous descent scheme based on navigation sensors is introduced. In Section 5, a vision based navigation scheme is presented. In Section 6, flight results in MUSES-C mission is presented. Finally, Section 7 is for discussions and conclusions.