1P2-L04 Navigation Results of a Rover Test-bed in a Terrestrial Analogue(Space Robotics)
Kyohei Otsu, Yosuke MIYATA, Takuma HONDA, Sugimura Sayuri, Tomohiro OYA, Shuhei Shigeto, Ryo Murakami, Masatsugu Otsuki, Takashi Kubota · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2014
The performance of an integrated navigation system is studied through the field experiments on a four-wheeled test-bed rover, AKI, operated in a terrestrial analogue. The AKI rover employs novel mobility and navigation systems which enable challenging long-range operations in natural terrain. AKI has a vision-based localization system aided by sun sensors and an inclinometer for absolute attitude estimation. The integration with absolute direction sensors improves accuracy in absolute positioning, as well as obtaining 5x run-time improvement of visual pose estimation. The paper reports the results of field experiment conducted in Izu-Oshima island in 2013, and discusses current challenges of the system.