Robotics and autonomous technology for asteroid sample return mission

Takashi Kubota, Shujiro Sawai, Tatsuaki Hashimoto, Jun'ichiro Kawaguchi

研究成果: Conference contribution

14 被引用数 (Scopus)

抄録

The MUSES-C mission is the world's first sample and return attempt to/from the near Earth asteroid. In deep space, it is hard to navigate, guide, and control a spacecraft on a real-time basis remotely from the earth mainly due to the communication delay. So autonomy is required for final approach and landing on an unknown body. It is important to navigate and guide a spacecraft to the landing point without hitting rocks or big stones. In the final descent phase, cancellation of the horizontal speed relative to the surface of the landing site is essential. This paper describes various kinds of robotics technologies applied for MUSES-C mission. A global mapping method, an autonomous descent scheme, and a novel sample-collection method, and asteroid exploration robot are proposed and presented in detail. The validity and the effectiveness of the proposed methods are confirmed and evaluated by numerical simulations and some experiments.

本文言語English
ホスト出版物のタイトル2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
ページ31-38
ページ数8
DOI
出版ステータスPublished - 2005
外部発表はい
イベント12th International Conference on Advanced Robotics, 2005. ICAR '05 - Seattle, WA, United States
継続期間: 2005 7 182005 7 20

出版物シリーズ

名前2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
2005

Other

Other12th International Conference on Advanced Robotics, 2005. ICAR '05
国/地域United States
CitySeattle, WA
Period05/7/1805/7/20

ASJC Scopus subject areas

  • 工学(全般)

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