カミヤ　トシオ   Toshio KAMIYA   神谷　俊夫    所属   理工学部 総合理工学科    職種   教授
言語種別	英語
発行・発表の年月	2025/10
形態種別	その他の著書・論文
標題	Optimization of Lunar Vertical Descent with Horizontal Hazard Avoidance via Nonlinear Model Predictive Control
執筆形態	共著
掲載誌名	Proceedings of the International Astronautical Congress, IAC
掲載区分	国外
担当区分	筆頭著者
著者・共著者	Toshio Kamiya, Chit Hong Yam, Naoya Kumagai
概要	Recent lunar landing missions have demonstrated the feasibility of surface exploration by private entities. Future lunar landers are expected to support frequent, low-cost missions while ensuring accurate and reliable descent and landing. A critical element of such landers is the guidance, navigation, and control (GNC) system for descent and landing, which must ensure accuracy, reliability, and adaptability. This study presents a nonlinear model predictive control (NMPC) approach for autonomous vertical descent with horizontal hazard avoidance. We formulate a nonlinear optimization problem for the final descent phase, including six-degree-of-freedom translational and rotational dynamics, thrust and attitude constraints, and hazard avoidance requirements. The proposed solution employs the C/GMRES algorithm to achieve real-time onboard computation with reduced processing time while maintaining robust control. Numerical simulations demonstrate propellant-efficient landings under varying initial conditions, confirming the method’s robustness and feasibility for hazard-rich lunar terrain. Comparative analysis against convex optimization benchmarks shows comparable fuel efficiency, with significantly faster computation, enabling rapid response to dynamic hazards. The results highlight the potential of NMPC with C/GMRES for safe, efficient, and autonomous lunar landings, providing a foundation for next-generation lunar transportation.