空间控制技术与应用2024，Vol.50Issue(6)：64-72,9.DOI:10.3969/j.issn.1674-1579.2024.06.008
自主智能微小机器人技术及其月面应用
The Technology of Autonomous Intelligent Miniature Robot and its Application on Lunar Surface
摘要
Abstract
As a kind of import deep space exploration tool,the lightweight and miniature robots with low resource occupancy and dexterous maneuverability are convenient for the deployment.The robots can execute surface explo-ration individually and expand exploration scope or collaborate to complete exploration or operations with other ro-bots.In this paper,an autonomous intelligent mobile robot named Jinchan,is developed to lunar surface explora-tion and its technologies are presented.Jinchan robot has been applied successfully in Chang'e-6 lunar exploration mission,which took successfully the full-body picture of the lander and the ascender's assembly on lunar surface by autonomous intelligent environment perception,relative navigation,planning and decision making,and realized the first application of the new Artificial Intelligent technology to the deep space exploration field.The total mass of Jinchan robot is ouly 4.5 kg,so far it is the first,lightest and smallest autonomous intelligent mobile robot rover for extraterrestrial surface exploration and photography.关键词
嫦娥六号/自主智能/微小机器人/智能感知/智能导航决策/智能取景Key words
Chang'e-6/autonomous intelligence/miniature robot/intelligent perception/intelligent navigation/intelligent framing分类
航空航天引用本文复制引用
邢琰,滕宝毅,黄煌,高明星,龚健,余成武,刘磊,杨孟飞..自主智能微小机器人技术及其月面应用[J].空间控制技术与应用,2024,50(6):64-72,9.基金项目
国家自然科学基金资助项目(U23B2034)和国家重点研发计划(2018AAA0102700) Supported by National Natural Science Foundation of China(U23B2034)and National Key R&D Program of China(2018AAA0102700) （U23B2034）
