Long-range navigation for resource-constrained planetary rovers using angle of arrival
This study presents a new navigation system consisting of a resource-constrained rover and landers for planetary long-range exploration. During the exploration, they communicate with each other using radio and the rover receives signals from the landers which contain Angle of Arrival (AOA) data. The...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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The Japan Society of Mechanical Engineers
2015-10-01
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| Series: | Mechanical Engineering Journal |
| Subjects: | |
| Online Access: | https://www.jstage.jst.go.jp/article/mej/2/6/2_14-00532/_pdf/-char/en |
| _version_ | 1818573020746219520 |
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| author | Takayuki ISHIDA Hiroka INOUE Wataru MOGI Masaki TAKAHASHI Masahiro ONO Shuichi ADACHI |
| author_facet | Takayuki ISHIDA Hiroka INOUE Wataru MOGI Masaki TAKAHASHI Masahiro ONO Shuichi ADACHI |
| author_sort | Takayuki ISHIDA |
| collection | DOAJ |
| description | This study presents a new navigation system consisting of a resource-constrained rover and landers for planetary long-range exploration. During the exploration, they communicate with each other using radio and the rover receives signals from the landers which contain Angle of Arrival (AOA) data. The rover estimates its position using AOA data. Although obtaining AOA data generally requires a complex device and is difficult to apply to navigation for small rovers. In this study, we implement AOA-based navigation for a resource-constrained rover by rotating a directional antenna such as the high-gain antenna of the landers. In this case, since the rover obtains signals containing AOA data intermittently, we employ an event-driven extended Kalman filter to implement real-time navigation. Our proposed method has the advantage that the rover does not need navigation cameras or sun sensors, and it is therefore suitable for resource-constrained rovers. We developed a small rover and several landers, and conducted experiments in a wide range of Black Rock Desert in America, using the small rover and the landers to obtain the experimental data of AOA which is difficult to simulate. The experimental data are used in numerical simulation. We also validate some cases where there is one lander. These results show the effectiveness of our proposed navigation system using AOA data from the landers in long-range exploration. |
| first_indexed | 2024-12-15T00:05:31Z |
| format | Article |
| id | doaj.art-9781e90a9f9f4542a8c4944c27746c77 |
| institution | Directory Open Access Journal |
| issn | 2187-9745 |
| language | English |
| last_indexed | 2024-12-15T00:05:31Z |
| publishDate | 2015-10-01 |
| publisher | The Japan Society of Mechanical Engineers |
| record_format | Article |
| series | Mechanical Engineering Journal |
| spelling | doaj.art-9781e90a9f9f4542a8c4944c27746c772022-12-21T22:42:44ZengThe Japan Society of Mechanical EngineersMechanical Engineering Journal2187-97452015-10-012614-0053214-0053210.1299/mej.14-00532mejLong-range navigation for resource-constrained planetary rovers using angle of arrivalTakayuki ISHIDA0Hiroka INOUE1Wataru MOGI2Masaki TAKAHASHI3Masahiro ONO4Shuichi ADACHI5The School of Science for Open and Environmental System, Keio UniversityThe School of Fundamental Science and Technology, Keio UniversityThe School of Science for Open and Environmental System, Keio UniversityDepartment of System Design Engineering, Keio UniversityKeio UniversityDepartment of Applied Physics and Physico-Informatics, Keio UniversityThis study presents a new navigation system consisting of a resource-constrained rover and landers for planetary long-range exploration. During the exploration, they communicate with each other using radio and the rover receives signals from the landers which contain Angle of Arrival (AOA) data. The rover estimates its position using AOA data. Although obtaining AOA data generally requires a complex device and is difficult to apply to navigation for small rovers. In this study, we implement AOA-based navigation for a resource-constrained rover by rotating a directional antenna such as the high-gain antenna of the landers. In this case, since the rover obtains signals containing AOA data intermittently, we employ an event-driven extended Kalman filter to implement real-time navigation. Our proposed method has the advantage that the rover does not need navigation cameras or sun sensors, and it is therefore suitable for resource-constrained rovers. We developed a small rover and several landers, and conducted experiments in a wide range of Black Rock Desert in America, using the small rover and the landers to obtain the experimental data of AOA which is difficult to simulate. The experimental data are used in numerical simulation. We also validate some cases where there is one lander. These results show the effectiveness of our proposed navigation system using AOA data from the landers in long-range exploration.https://www.jstage.jst.go.jp/article/mej/2/6/2_14-00532/_pdf/-char/enplanetary roverspace robotnavigationlocalizationangle of arrival |
| spellingShingle | Takayuki ISHIDA Hiroka INOUE Wataru MOGI Masaki TAKAHASHI Masahiro ONO Shuichi ADACHI Long-range navigation for resource-constrained planetary rovers using angle of arrival Mechanical Engineering Journal planetary rover space robot navigation localization angle of arrival |
| title | Long-range navigation for resource-constrained planetary rovers using angle of arrival |
| title_full | Long-range navigation for resource-constrained planetary rovers using angle of arrival |
| title_fullStr | Long-range navigation for resource-constrained planetary rovers using angle of arrival |
| title_full_unstemmed | Long-range navigation for resource-constrained planetary rovers using angle of arrival |
| title_short | Long-range navigation for resource-constrained planetary rovers using angle of arrival |
| title_sort | long range navigation for resource constrained planetary rovers using angle of arrival |
| topic | planetary rover space robot navigation localization angle of arrival |
| url | https://www.jstage.jst.go.jp/article/mej/2/6/2_14-00532/_pdf/-char/en |
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