太陽電池ローバーの自律走行の課題を克服する：長時間惑星探査ナビゲーションの実現
Overcoming the Challenges of Solar Rover Autonomy: Enabling Long-Duration Planetary Navigation
火星ローバーの移動計画の枠組みと長距離自律ナビゲーションの課題を整理し、環境・エネルギーを考慮した最新研究が太陽電池ローバーの自律長距離走行をどう可能にするかを展望したレビュー論文。
著者: Olivier Lamarre, Jonathan Kelly
分類: cs.RO
原文アブストラクト
The successes of previous and current Mars rovers have encouraged space agencies worldwide to pursue additional planetary exploration missions with more ambitious navigation goals. For example, NASA's planned Mars Sample Return mission will be a multi-year undertaking that will require a solar-powered rover to drive over 150 metres per sol for approximately three months. This paper reviews the mobility planning framework used by current rovers and surveys the major challenges involved in continuous long-distance navigation on the Red Planet. It also discusses recent work related to environment-aware and energy-aware navigation, and provides a perspective on how such work may eventually allow a solar-powered rover to achieve autonomous long-distance navigation on Mars.
