行为控制月球车路径规划技术  

Autonomous Behavior Path Planning for Lunar Rover

作　　者：居鹤华[1] 崔平远[1] 崔祜祷[1] 

机构地区：[1]哈尔滨工业大学深空探测基础研究中心

出　　处：《自动化学报》2004年第4期572-577,共6页Acta Automatica Sinica

基　　金：国防基础科研基金(J1600B001)资助~~

摘　　要：提出了一种新的路径规划方法即自主行为路径规划方法.该方法能够自动构造大范围自然环境下与路径规划任务相关的一类拓扑结构,从而大大地提高自然环境下月球车路径规划速度.该方法在Tangent-Bug切线法基础上引入一组自适应行为来构造切线拓扑图,它是人工路径规划行为的模仿,克服了计算几何路径规划方法非线性计算时间的不足.文中给出了相关定义、定理、算法及真实环境下的仿真结果.This paper deals with a new autonomous behavior path planning method for the lunar rover, which adapts to any obstacles and allows for the real world with large area. The path-planning scheme greatly improves computation geometrics based path planning methods by using a group of adaptive and oriental behaviors which simulate human behaviors for path planning to construct the topological graph of Tangent-Bug automatically and quickly. At the same time, basic terms, definitions and theorems of the method as well as simulation results in the real world are presented.

关 键 词：路径规划 行为控制 基于行为的控制 月球车 机器人 

分 类 号：V448[航空宇航科学与技术—飞行器设计]