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Probabilistic obstacle avoidance strategy for safe and soft moon landing
https://jaxa.repo.nii.ac.jp/records/7676
https://jaxa.repo.nii.ac.jp/records/76765d3aac9d-2900-42b3-9473-ca19c18b2936
Item type | 会議発表論文 / Conference Paper(1) | |||||
---|---|---|---|---|---|---|
公開日 | 2015-03-26 | |||||
タイトル | ||||||
言語 | en | |||||
タイトル | Probabilistic obstacle avoidance strategy for safe and soft moon landing | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 障害物回避戦略 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 月軟着陸 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 月クレーター | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 岩石分布 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 安全着陸 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 光学センサー | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 数値シミュレーション | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 高高度 | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | obstacle avoidance strategy | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | lunar soft landing | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | lunar crater | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | rock distribution | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | safe landing | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | optical sensor | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | numerical simulation | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | high altitude | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
アクセス権 | ||||||
アクセス権 | metadata only access | |||||
アクセス権URI | http://purl.org/coar/access_right/c_14cb | |||||
その他のタイトル | ||||||
その他のタイトル | 確率的障害物回避による月軟着陸 | |||||
著者 |
松本, 甲太郎
× 松本, 甲太郎× 佐々, 修一× 片山, 保宏× 杉原, 孝充× Matsumoto, Kotaro× Sasa, Shuichi× Katayama, Yasuhiro× Sugihara, Takamitsu |
|||||
著者所属 | ||||||
宇宙航空研究開発機構 総合技術研究本部 | ||||||
著者所属 | ||||||
宇宙航空研究開発機構 総合技術研究本部 | ||||||
著者所属 | ||||||
宇宙航空研究開発機構 総合技術研究本部 | ||||||
著者所属 | ||||||
海洋研究開発機構 | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Aerospace Exploration Agency Institute of Space Technology and Aeronautics | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Aerospace Exploration Agency Institute of Space Technology and Aeronautics | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Aerospace Exploration Agency Institute of Space Technology and Aeronautics | ||||||
著者所属(英) | ||||||
en | ||||||
Japan Agency for Marine-Earth Science and Technology | ||||||
出版者 | ||||||
出版者 | 宇宙航空研究開発機構宇宙科学研究本部 | |||||
出版者(英) | ||||||
出版者 | Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS) | |||||
書誌情報 |
平成16年度アストロダイナミクスシンポジウム:講演後刷り集 en : ISAS proceedings of 14th Workshop on Astrodynamics and Flight Mechanics 2004: A Collection of Technical Papers p. 247-252, 発行日 2005-03 |
|||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | SELENE-BはSELENEに続く日本初の月面軟着陸実験機としてクレータ中央丘近傍の地質探査を目指して研究されてきた。クレータ中央丘付近では岩石分布も密であり、軟着陸降下中に効果的に岩石障害物を検知し、自動回避しなければならない。本論文ではそのような障害物検知を光学的に行う場合の課題である、高々度での小型岩石認識に関して、高度2,000mのような高々度においても用いうる、新しい確率的検知手法について述べる。本手法は岩石分布に一定の確率分布事象を仮定し、高々度でも観測可能な大型岩石分布から小型岩石分布状況を確率推定するものである。 | |||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | SELENE-B, being proposed as the SELENE follow-on project, is the first Japanese moon lander for the exploration of the vicinity of a central peak of a crater. For SELENE-B, the sure obstacle avoidance and safe landing is the most severe technological requirement to be developed. In this paper, presented is the new obstacle avoidance strategy, which is effective even at the very high altitude. Under some natural assumption for the rock distribution, a probabilistic obstacle avoidance strategy could be proposed to solve the optical sensors problem. The validity of the proposed method is demonstrated by the numerical simulation. | |||||
ISSN | ||||||
収録物識別子タイプ | ISSN | |||||
収録物識別子 | 0918-8053 | |||||
資料番号 | ||||||
内容記述タイプ | Other | |||||
内容記述 | 資料番号: AA0047897043 |