著者

橋本 樹明 星野 健 若林 幸子 大嶽 久志 大竹 真紀子 田中 智 森本 仁 増田 宏一 嶋田 貴信 須藤 真琢 井上 博夏 Hashimoto Tatsuaki Hoshino Takeshi Wakabayashi Sachiko Otake Hisashi Ohtake Makiko Tanaka Satoshi Morimoto Hitoshi Masuda Koichi Shimada Takanobu Sutoh Masataku Inoue Hiroka

出版者

宇宙航空研究開発機構宇宙科学研究所(JAXA)(ISAS)

雑誌

第17回宇宙科学シンポジウム 講演集 = Proceedings of the 17th Space Science Symposium

巻号頁・発行日

2017-01

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第17回宇宙科学シンポジウム (2017年1月5日-6日. 宇宙航空研究開発機構宇宙科学研究所(JAXA)(ISAS)相模原キャンパス), 相模原市, 神奈川県

著者

森 悠貴 橋本 和宗 井上 博夏

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 (ISSN:21879761)

巻号頁・発行日

pp.23-00011, (Released:2023-11-20)

参考文献数

11

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This paper proposes a novel path planning algorithm designed for efficient lunar water exploration. The proposed algorithm leverages a Bayesian network-based sensor model in combination with the RRT* algorithm. It is well-known that water is highly likely to be present in permanently shadowed regions (PSRs). However, during exploration within these regions, the rover must escape to illuminated areas within a limited time to recharge its battery. Therefore, it is crucial to develop a path planning algorithm that ensures both timely battery recharging and efficient water exploration. To address this challenge, we first introduce a sensor model based on a Bayesian network for the neutron spectrometer. Subsequently, we propose an algorithm that utilizes this sensor model and the RRT* algorithm to effectively explore water on the lunar surface. The paper provides a numerical simulation, using real data about time-variant illumination areas and time-invariant PSRs on the lunar surface, to illustrate the effectiveness of the proposed algorithm. The results reveal that the algorithm accurately and efficiently detects water under realistic illumination conditions.