Mobility Evaluation of Lunar Exploration Rover and Development of a Control System for Mobility Optimization

对于未来的月球表面探测任务，机器人轮式漫游车将是执行广域探测的有前途的机器人。本文首先从土力学和地面力学（土轮系统力学）的角度建立了月球土轮相互作用模型。其次，我们提出了一种方法，可以减少过度的车轮滑移和保持车辆的机动性在桑迪粗糙的地形，并开发了一个六轮机器人车辆，采用了反馈控制系统具有简单的算法的方法。

For future lunar surface exploration missions, robotic wheeled rovers will be promising robots to perform wide-area explorations. In this research, we first developed a lunar soil-wheel interaction model from viewpoints of Soil Mechanics and Terramechanics (mechanics of soil-wheel sysmtems). Second, we proposed a methodology that can reduce excessive wheel slip and maintain vehicle mobility in sandy rough terrain, and developed a six-wheeled robotic vehicle which employs a feedback control system having a simple algorithm of the methodology.