Self-localization using plural small rovers for asteroid wide-area exploration
Self-localization using plural small rovers for asteroid wide-area exploration
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DOI：
10.1109/iros.2013.6696438
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发表时间：
2013-11
期刊：
影响因子：
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通讯作者：
M. Mikawa
中科院分区：
文献类型：
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作者：
M. Mikawa
本文提出了一种新的机器人系统组成的多个小行星探测车。每个漫游者都可以使用无线电与其他漫游者进行通信，并且在小行星的表面上配置了无线网状网络。与传统的探测系统相比，我们提出的系统具有以下三个优点：（1）可以探测更广泛的小行星区域。(2)由于网状网络具有冗余的通信路径，因此它对某些故障具有更强的鲁棒性。(3)可以通过使用网状网络来估计多个流动站之间的相对距离。这种相对距离的估计对于使用漫游者拥有的传感器进行小行星分析很有用。仿真结果表明，我们提出的漫游车系统的无线网状网络和相对距离估计方法的有效性和有效性。
This paper presents a new robot system consisting of plural small size rovers for an asteroid exploration. Each rover can communicate with others using radio, and a wireless mesh network is configured on an asteroid's surface. Our proposed system has the following three advantages against a conventional exploration system using one or two rovers: (1) It is possible to explore a wider area of an asteroid. (2) Since the mesh network has redundant communication paths, it has more robustness against some troubles. (3) It is possible to estimate the relative distances among plural rovers by using the mesh network. This relative distance estimation is useful for asteroid analyses using sensors that rovers have. Simulation results reveal the validity and effectiveness of our proposed rover system with the wireless mesh network and the relative distance estimation method.