Department Publications

For high scientific return, planetary rovers need to navigate longer distances autonomously and be less dependent on Earth station. Collaboration between rovers can substantially increase the localization accuracy for all the rovers and therefore, opens up opportunity for future exploration missions. This study aims at introducing a decentralized cooperative SLAM technique for two rovers based on EKF-SLAM and FastSLAM algorithms. Several data fusion methods and motion strategies are formulated. Furthermore, a novel SLAM technique called, cooperative positioning SLAM is proposed. The results show that by fusing information, better localization accuracies can be achieved. To validate algorithms a 3D simulation environment has been developed using opensource tools.

第 23 回アストロダイナミクスシンポジウム (2013 年 7 月 29-81 日. 宇宙航空研究開発機構宇宙科学研究所 (JAXA)(ISAS)), 相模原市, 神奈川県