Research on Conrol, Dynamics, and Development of a Multi-regged Planetary Rover of Isotropic Shape

各向同性多节行星车控制、动力学及研制研究

• 批准号: 12450395
• 负责人: HOKAMOTO Shinji
• 金额: $ 4.1万
• 依托单位: KYUSHU UNIVERSITY
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2000
• 资助国家: 日本
• 起止时间: 2000 至 2002
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-12450395/
• 关键词: Planetary Rover; Hopping Rover; Micro-gravity Simulator; Terrain Estimation; Path Planning; 自律制御; 微小重力環境; カメラ画像; 多脚ローバー

This research deals with a rover suited for exploration of a planet with low gravity. The rover has geometrically isotropic shape composed of a regular polyhedron center body and deployable legs. The results obtained in this research are follows.1. A regular dodecahedron / icosahedron shaped rover can achieve static motion by expanding the legs gradually. The length of deployment for the leg, however, is extremely long considering the size of the rover. Therefore, dynamic movement by impulsive force generated by quick deployment of the leg is extremely effective for a regular polyhedron shaped rover. A typical simulation result shows that a rover can climb a slope whose angle is larger than the climbing limitation for the static motion.2. Both the governing equations of motion of the rover and relations to estimate impact force of a touching leg to the planet surface are derived for each pattern of orientation shown in dynamic movement.3. For simulation of dynamic motion for a hopping rover in micro-gravity experiment on earth, active control system of tension force suspending a rover model is effective. And the control system should have integral compensation for tension error.4. For development of digital elevation map for a terrain, Shape from Shading algorithm combined with template matching technique results better estimation.5. New reflectance model based on Hapke model is proposed to be applicable the Shape from Shading algorithm to multiple camera images.

这项研究涉及一种适合探索低重力行星的漫游者。探测器具有几何各向同性的形状，由正多面体中心体和可展开的腿组成。本研究得到的结果如下：1。正十二面体/二十面体探测车可以通过逐渐扩展腿来实现静态运动。然而，考虑到火星车的大小，腿的展开长度是非常长的。因此，对于正多面体形状的探测车来说，通过腿的快速展开产生的冲力进行动态运动是非常有效的。典型的仿真结果表明，探测车可以爬上大于静态运动爬坡极限的坡度。在动态运动中，推导出了探测车的运动控制方程和接触腿对行星表面冲击力的估计关系式。针对地球微重力实验中跳跃漫游车的动态运动仿真，提出了一种有效的悬吊张力主动控制系统。并且控制系统应对张力误差进行积分补偿。在地形数字高程图的开发中，Shape from Shading算法与模板匹配技术相结合，获得了较好的估计效果。提出了一种新的基于Hapke模型的反射率模型，使Shape from Shading算法适用于多相机图像。