地外巡视探测无人系统自主感知与操控技术发展综述  

Development of Autonomous Sensing and Control Technology for Extraterrestrial Mobile Exploration Unmanned Systems

作　　者：邢琰[1,2] 魏春岭[1,2] 汤亮[1,2] 姜甜甜[1,2] 胡勇 黄煌[1,2] 胡海东[1,2] 常亚菲[1,2] 杨孟飞 XING Yan;WEI Chunling;TANG Liang;JIANG Tiantian;HU Yong;HUANG Huang;HU Haidong;CHANG Yafei;YANG Mengfei(Beijing Institute of Control Engineering,Beijing 100094,China;Science and Technology on Space Intelligent Control Laboratory,Beijing 100094,China;China Academy of Space Technology,Beijing 100094,China)

机构地区：[1]北京控制工程研究所,北京100094 [2]空间智能控制技术国防科技重点实验室,北京100094 [3]中国空间技术研究院,北京100094

出　　处：《空间控制技术与应用》2021年第6期1-8,共8页Aerospace Control and Application

基　　金：国家重点研发计划资助项目(2018AAA0102700)。

摘　　要：地外天体探测是空间科学与技术创新的重要途径,是当前和未来航天领域的发展重点之一.地外天体表面巡视探测是拓展探测广度和深度的有效途径.未来月球、火星探测任务对表面探测范围和探测效率的需求明显提高,探测范围从公里级扩展到百公里级以上,移动时速从百米级提高到公里级以上,要求地外巡视探测器具有更强的地外环境适应能力和探测效率.决定地外巡视探测能力的关键因素之一是自主环境感知与操控能力,本文面向我国未来深空探测重大工程任务需求,对地外巡视探测无人系统的自主感知与操控技术发展现状及趋势进行总结分析.The exploration of extraterrestrial objects is an important way of space science and technology innovation,which is also one of the development priorities in the current and future aerospace field.Surface mobile exploration of the extraterrestrial objects is an effective way to expand the exploration breadth and depth.In the future,the demand for surface exploration range and efficiency of lunar and Mars exploration missions will be significantly improved.The exploration range will be expanded from kilometers to more than 100 km,and the moving speed per hour will be increased from 100 m level to more than one kilometer level.It is required that extraterrestrial mobile probes have stronger adaptability to extraterrestrial environment and higher exploration efficiency.One of the key factors determining the ability of extraterrestrial surface exploration is the ability of autonomous environment perception,manipulation and control.Facing the needs of major engineering tasks of deep space exploration in China in the future,this paper summarizes and analyzes the development status and trend of autonomous perception,manipulation and control technologies of extraterrestrial surface exploration unmanned system.

关 键 词：地外探测 表面巡视探测 无人系统 感知 操控 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]