講演情報
[PPS02-P15]Implementation and Evaluation of a Delaunay Diagram-Based Route Searching Method for Lunar and Planetary Exploration Rovers
*内嶋 渉1、本田 親寿1 (1.会津大学)
キーワード：
ドロネー図、経路探査アルゴリズム
In recent years, space agencies and private companies worldwide have been using rovers to explore the Moon on a large scale (Jones, 2023). It is crucial to ensure that lunar and planetary exploration rovers can navigate safely and efficiently in environments with limited resources and distributed obstacles. Yanatori (2022) developed a route search tool by using Voronoi diagrams, but issues with route generation remained a challenge. To address these issues, Uchishima (2025) proposed a new route search algorithm that adapts the wavefront method to improve route generation. However, prioritising safety raised concerns about reliability in reaching observation points, and the algorithm was computationally expensive. Therefore, this study presents a new route search algorithm that emphasises both the reliability of reaching observation points and computational speed. This study modifies the algorithm proposed by Uchishima (2025) to utilise Delaunay diagram. First, a Delaunay diagram map is generated from obstacle location data. By considering obstacle radius information and merging adjacent obstacles, a map accounting for obstacle size is created. During exploration, the lunar and planetary exploration rovers move towards the nearest obstacle from the starting point. Upon encountering an obstacle, the robot follows it and transitions to the appropriate Delaunay edge. This process is repeated until the observation point is reached, generating the route. While the conventional method took 47 seconds, this method completed route generation in just 8.5 seconds, achieving significant acceleration. Route generated by this method incorporate obstacles as intermediate points, which reduces the impact of positional error and improves the reliability of reaching the observation point. The objective of this study was to demonstrate accelerated route generation and improved arrival reliability by introducing Delaunay diagram. This allows route search algorithms to be selected that are tailored to user requirements. One method prioritises safety (Uchishima, 2025), while the other emphasises speed and reliability.