中国空间科学技术

中国空间科学技术 ›› 2026, Vol. 46 ›› Issue (3): 61-76.doi: 10.16708/j.cnki.1000-758X.2026.0037

• 《中国空间科学技术（中英文）》创刊45周年专刊 • 上一篇    下一篇

星表自主移动作业机器人关键技术研究现状与发展趋势

高海波1,3，吴雨婷1,3，杨怀广2,3,*，丁亮1,3,*，杨林涛1,3，周如意1,3，邓宗全3   

  1. 1.哈尔滨工业大学机器人技术与系统国家重点实验室，哈尔滨150001
    2.哈尔滨工业大学宇航空间机构全国重点实验室，哈尔滨150001
    3.哈尔滨工业大学机电工程学院，哈尔滨15000
  • 收稿日期:2025-09-28 修回日期:2025-11-26 录用日期:2025-12-18 发布日期:2026-05-21 出版日期:2026-05-31

Current research and development trends in key technologies of autonomous mobile operation robots for extraterrestrial objects

GAO Haibo1,3，WU Yuting1,3，YANG Huaiguang2,3,*，DING Liang1,3,*，YANG Lintao1,3，ZHOU Ruyi1,3，DENG Zongquan3   

  1. 1.Laboratory of Robotics and Systems, Harbin Institute of Technology, Harbin 150001, China
    2.National Key Laboratory of Aerospace Mechanisms and Systems, Harbin Institute of Technology, Harbin 150001, China
    3.School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China
  • Received:2025-09-28 Revision received:2025-11-26 Accepted:2025-12-18 Online:2026-05-21 Published:2026-05-31

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摘要： 随着深空探测任务的持续深化，星表探测已成为各国航天事业的战略重点。自主移动作业机器人作为科学探测与资源开发的核心载体，面临着复杂环境与多元化任务需求的双重挑战。通过系统梳理星表环境特性与现阶段星表主要任务，归纳了星表自主移动作业机器人的关键技术：面向崎岖地形的高性能移动控制、多源感知融合的定位建图与导航和面向协同作业的机器人集群控制，并结合国内外研究进展对其后续发展走向进行展望。首先，基于轮式和足式两种主流运动模式，综述了面向崎岖地形的高性能移动技术的研究现状与发展趋势，指出其正从通用化的被动适应，走向任务导向的构型创新与智能控制。其次，总结了SLAM技术与智能路径规划方法的研究进展，强调视觉、激光等多源感知的互补价值，揭示有关研究正经历从环境几何重建到场景语义理解的深刻转变，以支撑未知动态环境下的自主认知与决策。在集群协同方面，介绍了集中式、分布式与混合式控制架构的性能特征，并分析指出混合式架构是平衡系统效率与鲁棒性的未来方向；最后，从构型优化、智能决策与集群架构等方面，对未来星表自主移动作业机器人提出发展建议。

关键词: 星表探测, 移动作业机器人, 移动控制, 环境感知, 机器人集群

Abstract: With the advancement of deep space exploration, extraterrestrial objects exploration has become a strategic focus of space programs worldwide. Autonomous mobile operation robots, as key platforms for scientific exploration and resource utilization, face dual challenges posed by complex environments and diversified mission requirements. A systematic review was conducted of the characteristics of extraterrestrial objects and current mission, and three key technologies were identified: high-performance mobility control over rugged terrain, localization and navigation based on multi-source perception, and swarm robots control for collaborative tasks. Recent research progress was analyzed to outline future trends. Firstly, recent progress in rugged-terrain mobility for wheeled and legged systems was reviewed, with an ongoing shift identified from generalized passive adaptation toward task-oriented structural innovation and intelligent control. Secondly, advances in SLAM and intelligent path planning were surveyed, highlighting the complementary value of visual and LiDAR sensing. A clear transition in research focus was reported, moving from environmental geometric reconstruction to semantic scene understanding, which is essential for autonomous cognition and decision-making in unknown, dynamic environments. In swarm robot control, centralized, distributed, and hybrid control architectures were compared. The hybrid architecture was identified as the future direction for optimally balancing system efficiency and robustness. Finally, from the perspectives of structural optimization, intelligent autonomous decision-making, and swarm architectures, development recommendations for future extraterrestrial objects autonomous mobile operation robots were proposed.

Key words: planetary surface exploration, autonomous mobile operation robots, mobility control, environmental perception, swarm robots