1A2-K16 軌道補正を用いた遠隔操縦システムにおける計測誤差へのロバスト性向上(宇宙ロボティクス・メカトロニクス)

• 植草 友貴

  中央大院

• 國井 康晴

  中央大

書誌事項

タイトル別名

• 1A2-K16 Tele-driving System with Command Path Compensation Algorithm of improve robustness for measurement error(Space Robotics and Mecahtoronics)

抄録

When the planetary exploration rover is operated actually, there are human errors and problems of communication time delay and measurement error. These problems debase efficiency of the remote control and safety of autonomous. So we have proposed tele-driving system with command path compensation algorithm. In this paper, Command Path Compensation algorithm is introduced, to clarify the issues for measurement error by simulation. To solve the issues, we proposed landmark measurement system applying Particle Filter, and we done implementation and measurement experiment. In addition, we compared conventional system with new system by simulation to verify the effectiveness of new system.

収録刊行物

• ロボティクス・メカトロニクス講演会講演概要集

  ロボティクス・メカトロニクス講演会講演概要集 2011 (0), _1A2-K16_1-_1A2-K16_3, 2011

  一般社団法人 日本機械学会

キーワード

• Measurement error
• Tele-driving system
• Path compensation
• Particle Filter

詳細情報

• CRID: 1390001205936701184
• NII論文ID: 110009690787
• DOI: 10.1299/jsmermd.2011._1a2-k16_1
• ISSN: 24243124
• Web Site: https://www.jstage.jst.go.jp/article/jsmermd/2011/0/2011__1A2-K16_1/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可