火星车通过性评估技术现状与展望  

Trafficability analysis for Mars rover:present and development

作　　者：申彦 邹猛[1] 党兆龙[2] 陈百超[2] 李玉琼[3] SHEN Yan;ZOU Meng;DANG Zhaolong;CHEN Baichao;LI Yuqiong(Key Laboratory for Bionics Engineering of Education Ministry,Jilin University,Changchun 130022,China;Institute of Spacecraft System Engineering,China Academy of Space Technology,Beijing 100094,China;Key Laboratory for Mechanics in Fluid Solid Coupling Systems,Institute of Mechanics,Chinese Academy of Sciences,Beijing 100190,China.)

机构地区：[1]吉林大学、工程仿生教育部重点实验室,吉林长春130022 [2]中国空间技术研究院、北京空间飞行器总体设计部,北京100094 [3]中国科学院力学研究所、中国科学院流固耦合系统力学重点实验室,北京100190

出　　处：《光学精密工程》2023年第5期729-745,共17页Optics and Precision Engineering

基　　金：国家自然科学基金项目(No.52075217,No.51775233),中国科学院青年创新促进会项目(No.2018024)。

摘　　要：火星表面地形地貌复杂,且覆盖有松软的火星土壤,这使得火星车在巡视探测时面临大沉陷、高滑转,甚至不能通过的风险。因此,火星车通过性分析和路径规划对巡视探测至关重要。本文调研了美国索杰纳号、勇气号、机遇号、好奇号、毅力号和我国祝融号火星车的通过性评估策略与方法,并分析基于多信息融合、深度学习和数据驱动的通过性评估研究新进展。最后,对未来火星车通过性判断发展方向进行了展望。The surface of Mars is a complex terrain covered with soft soil,which poses significant risks of subsidence,high slip,or even collapse for rovers exploring the planet.A thorough analysis of rover trafficability and effective path planning are crucial in mitigating these risks.This paper discusses a comprehensive review of the strategies and methods employed by the Sojourner,Spirit,Opportunity,Curiosity,Perseverance,and Zhurong rovers and the latest advances in trafficability assessment based on multi-information fusion,deep learning,and data-driven techniques.Finally,this paper outlines the prospects for advancing the field of rover trafficability assessment.

关 键 词：火星车 通过性 地面力学 滑转率 行星探索 

分 类 号：TU411[建筑科学—岩土工程]