月面巡视器路径规划方法研究  

Study on Path Planning Method of Lunar Rover

作　　者：于天一[1] 费江涛[1] 李立春[1] 程肖[1] YU Tianyi;FEI Jiangtao;LI Lichun;CHENG Xiao(Beijing Aerospace Control Center,Beijing 10094,China)

机构地区：[1]北京航天飞行控制中心

出　　处：《深空探测学报》2019年第4期384-390,共7页Journal Of Deep Space Exploration

摘　　要：在月面巡视遥操作过程中,需要根据感知数据确定科学探测目标,并逐层分解形成不同层次的规划结果。根据不同层次规划要求,结合月球背面巡视探测所需要面对的复杂约束,在探测周期规划中设计了月面综合环境立方模型和多约束导航点搜索算法,实现了综合考虑地形可达、光照情况、通信可达等多种因素的导航点搜索,在导航单元规划中设计了考虑地形行走代价、移动里程代价、操作控制代价等因素的平滑曲线路径搜索算法。在仿真实验环境中对上述方法进行了验证,结果表明了方法的有效性和实时性。During the process of lunar detection tele-operation,scientific exploration target is determined by sensing data and analyzing stage by stage in order to achieve planning of different level.According to planning requirements of different level and considering the complex terrain constrains in exploration on the far-side of the moon,an integrated environment cubic model of the lunar surface is established and a search algorithm of multiple constrained navigation points in the exploration period planning is proposed,through which the navigation points determination is realized considering detection point attainability,illumination condition,communication attainability and other factors comprehensively.For the navigation unit planning,a smooth curve path search algorithm is designed considering terrain attainability cost,mobile mileage cost and operation cost.The result shows the effectiveness and real-timeby the verification in simulation experiment environment.

关 键 词：月面巡视器 路径规划 多约束搜索 平滑路径搜索 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]