{"created":"2023-06-20T14:40:33.248656+00:00","id":7459,"links":{},"metadata":{"_buckets":{"deposit":"661ccd50-8809-47da-b367-a9f25c545567"},"_deposit":{"created_by":1,"id":"7459","owners":[1],"pid":{"revision_id":0,"type":"depid","value":"7459"},"status":"published"},"_oai":{"id":"oai:jaxa.repo.nii.ac.jp:00007459","sets":["1543:1544:1556","1887:1891"]},"author_link":["39727","39726","39728","39725"],"item_5_alternative_title_1":{"attribute_name":"その他のタイトル","attribute_value_mlt":[{"subitem_alternative_title":"惑星探査ローバにおける自律機能の階層化と指令軌道の補正"}]},"item_5_biblio_info_10":{"attribute_name":"書誌情報","attribute_value_mlt":[{"bibliographicIssueDates":{"bibliographicIssueDate":"2008-03","bibliographicIssueDateType":"Issued"},"bibliographicPageEnd":"139","bibliographicPageStart":"132","bibliographic_titles":[{"bibliographic_title":"第17回アストロダイナミクスシンポジウム講演後刷り集　2007"},{"bibliographic_title":"Proceedings of 17th Workshop on JAXA Astrodynamics and Flight Mechanics","bibliographic_titleLang":"en"}]}]},"item_5_description_16":{"attribute_name":"抄録","attribute_value_mlt":[{"subitem_description":"月惑星表面移動探査では、ローバと呼ばれる移動ロボットを用いて、さまざまな観測を行うことが求められる。月惑星探査では事前に詳細な環境情報を得ることは難しく、活動環境は基本的に未知自然環境となる。操縦者による直接遠隔システムは、もちろん基本的な方法であるが、限られたリソースで遠隔操縦を行うためには、安全性および効率性の点で得策ではなく、ある程度の自律機能が必要である。そこで自律機能と操縦者による遠隔制御を融合した人間機械協調型の遠隔操縦システムが有効となる。本発表では、ローバの操縦システムにおいて操縦者を頂点に自律機能の階層化を行い、人間と操縦者の能力的適性を踏まえた上で役割分担を行うことで、未知の自然環境において効率的に移動するシステムを提案する。また特に操縦者の設定した指令軌道の環境への適応アルゴリズム(補正アルゴリム)に関して議論する。さらに本手法を実験により評価する。","subitem_description_type":"Abstract"}]},"item_5_description_17":{"attribute_name":"抄録（英）","attribute_value_mlt":[{"subitem_description":"In such operation environments with long communication time delay as the moon or planets, it is difficult to compose a closed loop control between a master and a slave system. A new scheme is required to achieve the stability for tele-operation. This paper discusses and evaluates the proposed tele-operational driving system based on human machine cooperation that consists of global and local path-planning for long range traversability. The operator can command any desired path as a sequence of waypoints by using a 3D terrain model measured as DEM (Digital Elevation Model) by the on-board sensors of a rover. The data are transmitted to the ground and evaluated to obtain a dangerousness map. To cope with an unknown obstacle, a conventional autonomous path-planning algorithm is applied to the interval between waypoints. In addition, a rover continuously updates its knowledge about the environment. By continuously recalculating the difference between the original terrain data used for initial path generation on the ground and the most recent data acquired by the rover, waypoints compensation can be achieved. Therefore, a rover has to compensate waypoints by using the latest measurement data which would be more reliable than the previous data, for corresponding to the difference automatically. Here, the difference is compensated by using a distortion compensation matrix which is the mapping between the old and new terrain data sets. This paper shows the simulation and experimental results and also its evaluation results by using the rover test-bed.","subitem_description_type":"Other"}]},"item_5_description_32":{"attribute_name":"資料番号","attribute_value_mlt":[{"subitem_description":"資料番号: AA0063718022","subitem_description_type":"Other"}]},"item_5_publisher_8":{"attribute_name":"出版者","attribute_value_mlt":[{"subitem_publisher":"宇宙航空研究開発機構宇宙科学研究本部"}]},"item_5_publisher_9":{"attribute_name":"出版者（英）","attribute_value_mlt":[{"subitem_publisher":"Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS)"}]},"item_5_text_6":{"attribute_name":"著者所属","attribute_value_mlt":[{"subitem_text_value":"中央大学"},{"subitem_text_value":"宇宙航空研究開発機構 宇宙科学研究本部"}]},"item_5_text_7":{"attribute_name":"著者所属（英）","attribute_value_mlt":[{"subitem_text_language":"en","subitem_text_value":"Chuo University"},{"subitem_text_language":"en","subitem_text_value":"Japan Aerospace Exploration Agency Institute of Space and Astronautical Science"}]},"item_access_right":{"attribute_name":"アクセス権","attribute_value_mlt":[{"subitem_access_right":"metadata only access","subitem_access_right_uri":"http://purl.org/coar/access_right/c_14cb"}]},"item_creator":{"attribute_name":"著者","attribute_type":"creator","attribute_value_mlt":[{"creatorNames":[{"creatorName":"國井, 康晴"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"久保田, 孝"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kunii, Yasuharu","creatorNameLang":"en"}],"nameIdentifiers":[{}]},{"creatorNames":[{"creatorName":"Kubota, Takashi","creatorNameLang":"en"}],"nameIdentifiers":[{}]}]},"item_keyword":{"attribute_name":"キーワード","attribute_value_mlt":[{"subitem_subject":"ロービング車両","subitem_subject_scheme":"Other"},{"subitem_subject":"自律性","subitem_subject_scheme":"Other"},{"subitem_subject":"遠隔制御","subitem_subject_scheme":"Other"},{"subitem_subject":"時間遅れ","subitem_subject_scheme":"Other"},{"subitem_subject":"アルゴリズム","subitem_subject_scheme":"Other"},{"subitem_subject":"惑星探査","subitem_subject_scheme":"Other"},{"subitem_subject":"数値標高モデル","subitem_subject_scheme":"Other"},{"subitem_subject":"シミュレーション","subitem_subject_scheme":"Other"},{"subitem_subject":"実験","subitem_subject_scheme":"Other"},{"subitem_subject":"遠隔操縦システム","subitem_subject_scheme":"Other"},{"subitem_subject":"Micro-5","subitem_subject_scheme":"Other"},{"subitem_subject":"指令データ補償","subitem_subject_scheme":"Other"},{"subitem_subject":"CDC","subitem_subject_scheme":"Other"},{"subitem_subject":"roving vehicle","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"autonomy","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"remote control","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"time lag","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"algorithm","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"planetary exploration","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"digital elevation model","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"simulation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"experimentation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"tele-driving system","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"Micro-5","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"command data compensation","subitem_subject_language":"en","subitem_subject_scheme":"Other"},{"subitem_subject":"CDC","subitem_subject_language":"en","subitem_subject_scheme":"Other"}]},"item_language":{"attribute_name":"言語","attribute_value_mlt":[{"subitem_language":"eng"}]},"item_resource_type":{"attribute_name":"資源タイプ","attribute_value_mlt":[{"resourcetype":"conference paper","resourceuri":"http://purl.org/coar/resource_type/c_5794"}]},"item_title":"Path compensation and hierarchical autonomous functions for long range exploration rover","item_titles":{"attribute_name":"タイトル","attribute_value_mlt":[{"subitem_title":"Path compensation and hierarchical autonomous functions for long range exploration rover","subitem_title_language":"en"}]},"item_type_id":"5","owner":"1","path":["1556","1891"],"pubdate":{"attribute_name":"公開日","attribute_value":"2015-03-26"},"publish_date":"2015-03-26","publish_status":"0","recid":"7459","relation_version_is_last":true,"title":["Path compensation and hierarchical autonomous functions for long range exploration rover"],"weko_creator_id":"1","weko_shared_id":-1},"updated":"2023-06-21T07:39:12.659446+00:00"}