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...

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Autores principales:	Takayuki ISHIDA, Hiroka INOUE, Wataru MOGI, Masaki TAKAHASHI, Masahiro ONO, Shuichi ADACHI
Formato:	article
Lenguaje:	EN
Publicado:	The Japan Society of Mechanical Engineers 2015
Materias:	planetary rover space robot navigation localization angle of arrival Mechanical engineering and machinery TJ1-1570
Acceso en línea:	https://doaj.org/article/9781e90a9f9f4542a8c4944c27746c77
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spelling	oai:doaj.org-article:9781e90a9f9f4542a8c4944c27746c772021-11-26T06:32:14ZLong-range navigation for resource-constrained planetary rovers using angle of arrival2187-974510.1299/mej.14-00532https://doaj.org/article/9781e90a9f9f4542a8c4944c27746c772015-10-01T00:00:00Zhttps://www.jstage.jst.go.jp/article/mej/2/6/2_14-00532/_pdf/-char/enhttps://doaj.org/toc/2187-9745This 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.Takayuki ISHIDAHiroka INOUEWataru MOGIMasaki TAKAHASHIMasahiro ONOShuichi ADACHIThe Japan Society of Mechanical Engineersarticleplanetary roverspace robotnavigationlocalizationangle of arrivalMechanical engineering and machineryTJ1-1570ENMechanical Engineering Journal, Vol 2, Iss 6, Pp 14-00532-14-00532 (2015)
institution	DOAJ
collection	DOAJ
language	EN
topic	planetary rover space robot navigation localization angle of arrival Mechanical engineering and machinery TJ1-1570
spellingShingle	planetary rover space robot navigation localization angle of arrival Mechanical engineering and machinery TJ1-1570 Takayuki ISHIDA Hiroka INOUE Wataru MOGI Masaki TAKAHASHI Masahiro ONO Shuichi ADACHI Long-range navigation for resource-constrained planetary rovers using angle of arrival
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.
format	article
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
title	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_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_sort	long-range navigation for resource-constrained planetary rovers using angle of arrival
publisher	The Japan Society of Mechanical Engineers
publishDate	2015
url	https://doaj.org/article/9781e90a9f9f4542a8c4944c27746c77
work_keys_str_mv	AT takayukiishida longrangenavigationforresourceconstrainedplanetaryroversusingangleofarrival AT hirokainoue longrangenavigationforresourceconstrainedplanetaryroversusingangleofarrival AT watarumogi longrangenavigationforresourceconstrainedplanetaryroversusingangleofarrival AT masakitakahashi longrangenavigationforresourceconstrainedplanetaryroversusingangleofarrival AT masahiroono longrangenavigationforresourceconstrainedplanetaryroversusingangleofarrival AT shuichiadachi longrangenavigationforresourceconstrainedplanetaryroversusingangleofarrival
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Long-range navigation for resource-constrained planetary rovers using angle of arrival

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