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，机器人轮式月球车将有望实现大范围的探测。在本研究中，我们首先从土力学和地形力学(土壤-车轮系统的力学)的角度建立了月球土壤-车轮相互作用模型。其次，我们提出了一种在沙质崎岖地形下减少车轮过度打滑和保持车辆机动性的方法，并开发了一种采用反馈控制系统的六轮机器人小车，给出了该方法的简单算法。

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.