中国空间科学技术

中国空间科学技术 ›› 2023, Vol. 43 ›› Issue (6): 11-24.doi: 10.16708/j.cnki.1000-758X.2023.0079

• 空间科学与试验专栏 • 上一篇    下一篇

月基装备自主路径规划研究与展望

王中旭，鲁亚楠，周燕，文世峰，周诚   

  1. 1 华中科技大学 国家数字建造技术创新中心，武汉430074
    2 华中科技大学 土木与水利工程学院，武汉430074
    3 华中科技大学 材料科学与工程学院，武汉430074
  • 出版日期:2023-12-25 发布日期:2023-12-12

Research and prospect on autonomous path planning for lunar based equipment

WANG Zhongxu，LU Yanan，ZHOU Yan，WEN Shifeng，ZHOU Cheng   

  1. 1 National Center of Technology Innovation for Digital Construction，Huazhong University of Science and Technology，Wuhan 430074，China 
    2 School of Civil and Hydraulic Engineering，Huazhong University of Science and Technology，Wuhan 430074，China
    3 School of Materials Science and Engineering，Huazhong University of Science and Technology，Wuhan 430074，China
  • Published:2023-12-25 Online:2023-12-12

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摘要： 考虑到月面极端环境的复杂性和探月高昂的成本，使用高自动化的月基装备来担任月面探测、物资运输、基地建设等任务是最佳选择。月基装备的自主移动依赖路径规划，因此，基于月面极端环境和复杂地形对月基装备自主移动造成的影响，针对月基装备的自主路径规划问题，阐述了4类全局路径规划的常用算法，即启发式算法、基于采样的算法、基于图搜索的算法和人工智能算法，以及两种主要的局部路径规划方法，即基于视觉的路径规划方法和基于激光雷达的路径规划方法。归纳总结了国内外现有月基装备自主路径规划方法的优缺点与应用场景，展望了月基装备自主路径规划的发展趋势，为未来月基装备自主移动系统的设计和应用提供参考和借鉴。

关键词: 月基装备, 自主移动, 路径规划算法, 月面地形, 避障算法

Abstract: Considering the complexity of extreme lunar environments and the high cost of lunar exploration，using highly automated lunar based equipment for tasks such as lunar exploration，material transportation and base construction is the best choice.The autonomous movement of lunar based equipment relies on path planning.Therefore，based on the impact of extreme lunar environments and complex terrain on the autonomous movement of lunar based equipment，aiming at the autonomous path planning problem of lunar based equipment，four commonly used algorithms for global path planning are described：heuristic algorithm，sampling based algorithm，graph search based algorithm，and artificial intelligence algorithm，as well as two main local path planning methods：vision based path planning method and laser radar based path planning method.The advantages，disadvantages，and application scenarios of existing autonomous path planning methods for lunar based equipments from home and abroad are summarized，and the development trend of autonomous path planning for lunar based equipment is prospected，providing a reference for the design and application of future lunar based equipment.

Key words: lunar based equipment, autonomous mobility, path planning algorithm, lunar surface terrain, obstacle avoidance algorithm