星面探测机器人自主移动技术  

Discussion on Autonomous Mobile Technology of Star Surface Detection

作　　者：熊蓉[1] 傅博 王越[1] 吴俊[1] XIONG Rong;FU Bo;WANG Yue;WU Jun(State Key Laboratory of Industrial Control Technology,Zhejiang University,Hangzhou 310027,Zhejiang,China)

机构地区：[1]浙江大学工业控制技术国家重点实验室

出　　处：《上海航天》2019年第5期11-20,共10页Aerospace Shanghai

基　　金：国家重点研发计划(SQ2018AAA010231);省级重点研发计划(2019C01043)

摘　　要：为进一步扩大探测范围,提高探测效率,并为后续星面基地建设提供服务,星面探测机器人需从远程地面遥控方式向自主移动方式发展,为此需要解决地图构建、鲁棒定位、探测导航等问题。为推动星面探测机器人自主移动能力的发展,借鉴目前快速发展的无人驾驶技术和地面自主移动技术,归纳总结了目前国内外星面探测移动技术的研究现状和存在的问题,以及地面自主移动研究在地图构建、鲁棒定位、探测导航等方面取得的进展。在结合星面探测应用的特殊性的基础上,提出了未来在长期定位和可变形重建领域开展更深入研究的建议。In view of the need to further expand the star detection range,improve the detection efficiency,and serve the construction of the follow-up star base,the star-surface detection robot needs to develop from the tele-operation mode to the autonomous mobile mode.To solve this problem,it is necessary to solve a series of problems such as map construction,robust localization,and navigation.In order to learn from the rapid development of unmanned driving technology and ground autonomous mobile technology to promote the development of autonomous capabilities of star-surface detection robots,the current research status and existing problems of star-surface mobile detection technology,and the current progress in ground-based autonomous mobile research on map construction,robust localization,and navigation are summarized.Based on the particularity of the star-surface detection application,future research direction in the field of long-term localization and deformable reconstruction is proposed.Further research focuses on the robustness and accuracy of long-term localization,as well as the implementation of deformable reconstruction.

关 键 词：星面 移动机器人 地图构建 鲁棒定位 探测导航 地面自主移动技术 

分 类 号：TN911.73[电子电信—通信与信息系统] TP391.9[电子电信—信息与通信工程]