Technical Report Path Planning for Rovers on the Moon Based on Shadow Estimation

Sutoh, Masataku  ,  Otsuki, Masatsugu  ,  Wakabayashi, Sachiko  ,  Hoshino, Takeshi  ,  須藤, 真琢  ,  大槻, 真嗣  ,  若林, 幸子  ,  星野, 健

JAXA-RM-17-001Epp.1 - 9 , 2017-07-28 , Japan Aerospace Exploration Agency (JAXA) , 宇宙航空研究開発機構(JAXA)
In future lunar exploration, mobile robots (i.e., rovers) are required to travel long distances; thus, these rovers will experience severe power limitations. In such exploration missions, the power limitation on the Moon, i.e., the balance between consumed power and that generated by the rover, should be taken into account for motion/path planning. Power generated by solar panels is a possible resource, which is determined depending on the condition of shadows. From this possibility, this study evaluates the influence of these shadows on path planning for lunar rovers by using a proposed path planning method, in which the power limitation is introduced as a new evaluation index. For this evaluation, we developed a path-planning simulator based on a method using digital elevation models (DEMs) derived from Kaguya data. In the simulation, the terrain inclination and shadow on the Moon are estimated by using the DEMs. Using this simulation, path planning is conducted under various insolation (i.e., shadow) conditions corresponding to latitude, longitude, and time for a given terrain. The simulation results show that the power level can be increased in a planned path by considering the influence of the shadow. The effectiveness of the proposed path-planning method is quantitatively confirmed, particularly for an exploration mission conducted in the morning and evening at middle/high latitudes.
Physical characteristics: Original contains color illustrations
形態: カラー図版あり

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