WEKO3
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Robotics technology for MUSES-C mission: Navigation and guidance based on target marker
https://jaxa.repo.nii.ac.jp/records/7724
https://jaxa.repo.nii.ac.jp/records/7724113733c9-2da3-48cc-b720-238905af1343
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 | Robotics technology for MUSES-C mission: Navigation and guidance based on target marker | |||||
言語 | ||||||
言語 | eng | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | MUSES-Cミッション | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | サンプルリターンミッション | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 通信遅延 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 標的マーカー | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | ロボティックス | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 誘導・航法 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 宇宙機着陸 | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | 数値解析 | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | MUSES-C mission | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | sample return mission | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | communication delay | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | target marker | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | robotics | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | navigation and guidance | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | spacecraft landing | |||||
キーワード | ||||||
言語 | en | |||||
主題Scheme | Other | |||||
主題 | numerical analysis | |||||
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 | MUSES-Cミッションにおけるロボティクス技術:ターゲットマーカに基づく航法誘導 | |||||
著者 |
久保田, 孝
× 久保田, 孝× 澤井, 秀次郎× 橋本, 樹明× 川口, 淳一郎× Kubota, Takashi× Sawai, Shujiro× Hashimoto, Tatsuaki× Kawaguchi, Junichiro |
|||||
著者所属 | ||||||
宇宙科学研究所 | ||||||
著者所属 | ||||||
宇宙科学研究所 | ||||||
著者所属 | ||||||
宇宙科学研究所 | ||||||
著者所属 | ||||||
宇宙科学研究所 | ||||||
著者所属(英) | ||||||
en | ||||||
Institute of Space and Astronautical Science | ||||||
著者所属(英) | ||||||
en | ||||||
Institute of Space and Astronautical Science | ||||||
著者所属(英) | ||||||
en | ||||||
Institute of Space and Astronautical Science | ||||||
著者所属(英) | ||||||
en | ||||||
Institute of Space and Astronautical Science | ||||||
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15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 13th Workshop on Astrodynamics and Flight Mechanics 2003: A Collection of Technical Papers p. 142-149, 発行日 2004-02 |
|||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | 2003年5月9日に打ち上げた小惑星探査機「はやぶさ」は2年後に小惑星1998SF36(Itokawa)に到達し、小惑星のグローバルマッピング後、タッチダウンを行い、サンプルを採取する。このミッション達成のため、画像処理、自動化自律化機能など、広い意味でさまざまなロボティクス技術が盛り込まれている。そこで、本講演では、MUSES-Cミッションにおけるロボティクス技術を紹介するとともに、ターゲットマーカに基づく航法誘導に関して詳細を述べる。 | |||||
抄録(英) | ||||||
内容記述タイプ | Other | |||||
内容記述 | The MUSES-C mission is the world's first sample and return attempt to/from the near Earth asteroid. In deep space, it is hard to navigate, guide, and control a spacecraft on a real-time basis remotely from the earth mainly due to the communication delay. So autonomy is required for final approach and landing to an unknown body. It is important to navigate and guide a spacecraft to the landing point without hitting rocks or big stones. In the final descent phase, cancellation of the horizontal speed relative to the surface of the landing site is essential. This paper describes various kinds of robotics technologies applied for MUSES-C mission. A global mapping method, an autonomous descent scheme, and a novel sample-collection method, and asteroid exploration robot are proposed and presented in detail. The validity and the effectiveness of the proposed methods are confirmed and evaluated by numerical simulations and some experiments. | |||||
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: AA0046652023 |