自主智能微小机器人技术及其月面应用OA北大核心CSTPCD
The Technology of Autonomous Intelligent Miniature Robot and its Application on Lunar Surface
轻量化微小型机器人资源占用少,自身机动灵活,便于搭载携带,并能够支持多机协同联合作业,扩大探测范围,提高探测能力,是未来深空探测任务中的重要探测工具.本文针对月面严苛复杂环境下全自主感知、移动和成像需求,突破了资源受限和小样本约束下的轻量化设计、智能感知与决策等关键技术,研制了国际首台 5kg级地外探测自主智能微小机器人,并成功应用于我国嫦娥六号任务.通过月面智能感知与决策,实现了自主移动与取景成像,获得了为嫦娥六号着陆器和上升器组合体在月面的高质量合影照片,并实现新一代人工智能技术在国内外深空探测领域的突破.
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.
邢琰;滕宝毅;黄煌;高明星;龚健;余成武;刘磊;杨孟飞
北京控制工程研究所,北京 100094||空间智能控制技术全国重点实验室,北京 100094北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094||空间智能控制技术全国重点实验室,北京 100094北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094北京控制工程研究所,北京 100094||空间智能控制技术全国重点实验室,北京 100094空间智能控制技术全国重点实验室,北京 100094||中国空间技术研究院,北京 100094
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
Chang'e-6autonomous intelligenceminiature robotintelligent perceptionintelligent navigationintelligent framing
《空间控制技术与应用》 2024 (6)
64-72,9
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)
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