Study of 3D Environment Recognition Sensor with Micro Scanning Mechanism

微扫描机构3D环境识别传感器研究

• 批准号: 08455202
• 负责人: NAKATANI Ichiro
• 金额: $ 4.22万
• 依托单位: Institute of Space and Astronautical Science
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 1996
• 资助国家: 日本
• 起止时间: 1996 至 1997
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-08455202/
• 关键词: Sensor; Environment Recognition; Micro Scanning; Laser Range Sensor; Distance Image; Oath Planning; Navigation; レンジセンサ; MEMS; 2次元スキャン; 振動子; 圧電アクチュエータ

We proposed a new type of scanning laser range sensor for recognizing three dimensional environment. The proposed sensor has advantages of small size, light weigh, and low power consumption with the help of micro electrical mechanical system technology. We developed a miniature two dimensional optical sensor which is driven by a piezoelectric actuator. We could succeed in making maps of natural terrains by using our developed sensor. By experiments, we comfirmed the validity of the new mechanism of a micro scanning laser range sensor. We could obrtain very good experimental results on sensing accuracy.We also studied path planning and navigation for planetary rover by using the developed sensor. We proposed an extended elevation map, which included the effect of the size of the rover. We also proposed a path planning scheme based on traversability probability. And then we studied the fast navigation algorithm for planetary rover based on fuzzy resoning. The validity of the proposed methods was verified by computer simulation and experomental results.

提出了一种用于三维环境识别的新型扫描式激光测距传感器。该传感器采用微机电系统技术，具有体积小、重量轻、功耗低等优点。研制了一种由压电陶瓷驱动的微型二维光学传感器。利用我们研制的传感器，我们可以成功地绘制自然地形图。通过实验验证了微扫描激光测距传感器新机构的有效性。利用所研制的传感器进行了行星探测车的路径规划和导航研究。我们提出了一个扩展的海拔地图，其中包括漫游车的大小的影响。提出了一种基于可通过性概率的路径规划方案。然后研究了基于模糊共振的行星漫游车快速导航算法。计算机仿真和实验结果验证了所提方法的有效性。

项目成果

中谷 一郎: "月・惑星探査ロボット" ロボティクス・メカトロニクス講演会予稿集. (1997)

Ichiro Nakatani：“月球/行星探索机器人”机器人与机电一体化会议论文集（1997）。

H.Hayashida, T.Yamaizumi, T.Kubota, I,Nakatani: "Autonomous Navigation for Landing on Unknown Planetary Surface Using Laser Range Sensor" 6th Workshop on Astrodynamics and Flight Mechanics, ISAS. 31-36 (1996)

H.Hayashida、T.Yamaizumi、T.Kubota、I、Nakatani：“使用激光距离传感器在未知行星表面着陆的自主导航”第六届天体动力学和飞行力学研讨会，ISAS。

中谷 一郎: "距離画像を利用した惑星ロ-バの自律誘導手法" 情報処理学会第56回全国大会予稿集. (1998)

Ichiro Nakatani：“使用距离图像的行星漫游器的自主引导方法”第 56 届日本信息处理学会全国会议论文集（1998 年）。

黒田洋司: "惑星ロ-バの遠隔操作システム" 第15回日本ロボット学会学術講演会予稿集. No.3D44. (1997)

Yoji Kuroda：“行星机器人的远程控制系统”日本机器人学会第15届学术会议论文集No.3D44（1997）。

林田,久保田,中谷,: ""月・惑星表面への自律着陸誘導手法,"" 第40回宇宙科学連合講演会,盛岡. No.1A14. 27-28 (1996.10)

Hayashida、Kubota、Nakatani：“月球/行星表面自主着陆引导方法”，第 40 届空间科学联盟会议，No.1A14 (1996.10)。