| Autor: |
Yuki MORI, Kazumune HASHIMOTO, Hiroka INOUE |
| Jazyk: |
japonština |
| Rok vydání: |
2023 |
| Předmět: |
|
| Zdroj: |
Nihon Kikai Gakkai ronbunshu, Vol 89, Iss 928, Pp 23-00011-23-00011 (2023) |
| Druh dokumentu: |
article |
| ISSN: |
2187-9761 |
| DOI: |
10.1299/transjsme.23-00011 |
| Popis: |
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. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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