中国空间科学技术

中国空间科学技术

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基于可通过性的月面巡视探测器路径规划算法

刘建军;陈建新;   

  1. 北京控制工程研究所;空间智能控制技术国家级重点实验室;
  • 发布日期:2009-06-25

Traversability Based Path Planning Algorithm for Lunar Rovers

Liu Jianjun~(1,2) Chen Jianxin~(1,2) (1 Beijing Institute of Control Engineering,Beijing 100190) (2 National Laboratory of Space Intelligent Control,Beijing 100190)   

  • Online:2009-06-25

被引次数

3

摘要： 应用于行星探测车的路径规划算法需要根据地形环境信息和车体的越障能力两方面进行考虑。结合月面巡视探测器移动子系统的通过特性以及地形信息将地图栅格进一步细分,使用了四个安全性指标描述车体静止或运动时的通过性,并将其引入到A~*与D~*两种规划算法的代价当中,给出了算法的流程,并通过仿真进行了验证。

关键词: 月面巡视, 可通过性, 路径规划, 算法, 行星探测器

Abstract: It is very necessary for a path planning algorithm of a planetary rover to utilize the rover's mobility and terrain characteristics better.A path planning algorithm,which is based on the traversability of a lunar rover and terrain information,was proposed.The grid based world model was subdivided and four statistical parameters were analyzed which implyed the security as the rover holding still or moveing along predetermined arcs,and the path search algorithms were based on A* and D* algorithms.The flow charts were presented and simulation results demonstrate the effectiveness of the proposed algorithms.

Key words: Lunar rover, Traversability, Path planning, Algorithm, Planetary probe