基于越障的月面巡视探测器路径规划成本评估  

Cost evaluation of path planning of lunar rovers based on span

作　　者：殷礼明[1] 汪劲松[1] 李雪雯[2] 

机构地区：[1]清华大学精密仪器与机械学系制造工程研究所,北京100084 [2]北京航空航天大学机器人研究所,北京100083

出　　处：《高技术通讯》2007年第1期39-43,共5页Chinese High Technology Letters

基　　金：973计划（2002CB312200）资助项目.

摘　　要：通过理论分析和实验对月面巡视探测器基于越障的路径规划成本评估进行了研究，综合考虑安全性、能量损耗和时间损耗等因素提出评估方案，从多条路径中选出最优路径。基于越障的路径规划成本评估在搜索算法规划路径的基础上，研究月面巡视探测器的可跨越性，综合考虑多种因素的影响，对路径进行成本评估。The research was with focus on the cost evaluation of path planning of lunar rovers based on span through experiment and theoretical analysis. The evaluating plan was advised by combining safety, energy consumption and time consumption together and the optimal path was found from several paths. Based on the planning paths with search arithmetic, the cost evaluation of path planning based on span made research on the span of lunar rovers and the cost evaluation for paths after considering all the factors.

关 键 词：月面巡视探测器 跨越 路径规划 成本评估 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]