@inproceedings{oai:jaxa.repo.nii.ac.jp:00007724,
 author = {久保田, 孝 and 澤井, 秀次郎 and 橋本, 樹明 and 川口, 淳一郎 and Kubota, Takashi and Sawai, Shujiro and Hashimoto, Tatsuaki and Kawaguchi, Junichiro},
 book = {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, ISAS Proceedings of 13th Workshop on Astrodynamics and Flight Mechanics 2003: A Collection of Technical Papers},
 month = {Feb},
 note = {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。, 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., 資料番号: AA0046652023},
 pages = {142--149},
 publisher = {宇宙航空研究開発機構宇宙科学研究本部, Institute of Space and Astronautical Science, Japan Aerospace Exploration Agency (JAXA/ISAS)},
 title = {Robotics technology for MUSES-C mission: Navigation and guidance based on target marker},
 year = {2004}
}