干旱区生态环境知识资源中心(Arid): Recovery System Based on Exploration-Biased Genetic Algorithm for Stuck Rover in Planetary Exploration

Arid

DOI	10.20965/jrm.2017.p0877
	Recovery System Based on Exploration-Biased Genetic Algorithm for Stuck Rover in Planetary Exploration
	Uwano, Fumito; Tajima, Yusuke; Murata, Akinori; Takadama, Keiki
通讯作者	Uwano, F
来源期刊	JOURNAL OF ROBOTICS AND MECHATRONICS
ISSN	0915-3942
EISSN	1883-8049
出版年	2017
卷号	29 期号:5 页码:877-886
英文摘要	Contributing toward continuous planetary surface exploration by a rover (i.e., a space probe), this paper proposes (1) an adaptive learning mechanism as the software system, based on an exploration-biased genetic algorithm (EGA), which intends to explore several behaviors, and (2) a recovery system as the hardware system, which helps a rover exit stuck areas, a kind of immobilized situation, by testing the explored behaviors. We develop a rover-type space probe, which has a stabilizer with two movable joints like an arm, and learns how to use them by employing EGA. To evaluate the effectiveness of the recovery system based on the EGA, the following two field experiments are conducted with the proposed rover: (i) a small field test, including a stuck area created artificially in a park; and (ii) a large field test, including several stuck areas in Black Rock Desert, USA, as an analog experiment for planetary exploration. The experimental results reveal the following implications: (1) the recovery system based on the EGA enables our rover to exit stuck areas by an appropriate sequence of motions of the two movable joints; and (2) the success rate of getting out of stuck areas is 95% during planetary exploration.
英文关键词	adaptive learning genetic algorithm rover stabilizer planetary exploration
类型	Article
语种	英语
收录类别	ESCI
WOS记录号	WOS:000413399700012
WOS类目	Robotics
WOS研究方向	Robotics
资源类型	期刊论文
条目标识符	http://119.78.100.177/qdio/handle/2XILL650/332330
作者单位	[Uwano, Fumito] Univ Electrocommun, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, Japan; [Tajima, Yusuke] Univ Electrocommun, Grad Sch Informat & Engn, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, Japan; [Murata, Akinori] Univ Electrocommun, Grad Sch Informat, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, Japan; [Takadama, Keiki] Univ Electrocommun, Dept Informat, 1-5-1 Chofugaoka, Chofu, Tokyo 1828585, Japan
推荐引用方式 GB/T 7714	Uwano, Fumito,Tajima, Yusuke,Murata, Akinori,et al. Recovery System Based on Exploration-Biased Genetic Algorithm for Stuck Rover in Planetary Exploration[J],2017,29(5):877-886.
APA	Uwano, Fumito,Tajima, Yusuke,Murata, Akinori,&Takadama, Keiki.(2017).Recovery System Based on Exploration-Biased Genetic Algorithm for Stuck Rover in Planetary Exploration.JOURNAL OF ROBOTICS AND MECHATRONICS,29(5),877-886.
MLA	Uwano, Fumito,et al."Recovery System Based on Exploration-Biased Genetic Algorithm for Stuck Rover in Planetary Exploration".JOURNAL OF ROBOTICS AND MECHATRONICS 29.5(2017):877-886.