Study on Parachute Entanglement Prevention Method Using Image Recognition in CanSat

Abstract

In this paper, we propose a method to prevent CanSat from getting entangled in the parachute using image recognition, and describe the results of evaluating its effectiveness in actual CanSat competition. There is a simulated small planetary exploration rover called CanSat, and CanSat competitions are held in various regions as an experiment similar to the development of the most feasible planetary exploration rover on the ground. In the CanSat competition, assuming the development of an actual planetary exploration rover, it is required to have a structure that can withstand impacts such as fully autonomous control and rocket launch similar to the planetary exploration rover, release in the sky, and landing on the ground. Therefore, landing is performed using a deceleration mechanism such as a parachute, but there are many cases where CanSat gets entangled with the parachute and becomes unable to run after the start of running. To solve this problem, we propose a parachute avoidance operation method for CanSat that uses a parachute structure and image recognition that are difficult to get entangled with CanSat. In addition, by actually confirming the operation at the CanSat competition and using the proposed method, it was confirmed in a demonstration evaluation experiment that CanSat was not entangled in the parachute.