Strategy optimization for energy efficient extraterrestrial drilling using combined power map

Siyi Pan, Genya Ishigami

研究成果: Article査読

2 被引用数 (Scopus)

抄録

Extraterrestrial drilling is an important sampling method for understanding the formation of another celestial body and finding traces of life beyond earth. Currently, such tasks mainly rely on remotely controlled space robots. Because of limited energy available for space robots, it is highly demanded to improve the energy efficiency in the extraterrestrial drilling tasks. In this paper, we propose an algorithm called combined power map (CPM) method that can optimize extraterrestrial drilling strategies in order to improve energy efficiency. The algorithm comprehensively considers the effect of sampling positions, robot positions, and robotic arm configurations on drilling energy consumption and has the ability to manage the energy efficiency gain and corresponding risks. Simulations show that the CPM method can significantly reduce the drilling energy consumption and effectively limit accompanying risks.

本文言語English
論文番号7935510
ページ(範囲)1980-1987
ページ数8
ジャーナルIEEE Robotics and Automation Letters
2
4
DOI
出版ステータスPublished - 2017 10月

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 生体医工学
  • 人間とコンピュータの相互作用
  • 機械工学
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用
  • 制御と最適化
  • 人工知能

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