考虑崎岖地形的月球车路径规划与跟踪控制研究  

Path Planning and Tracking Control for Lunar Rover on Rough Terrain

作　　者：陈金宝[1] 刘彦清 邢宏军 徐宇哲[1] CHEN Jinbao;LIU Yanqing;XING Hongjun;XU Yuzhe(College of Astronautics,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)

机构地区：[1]南京航空航天大学航天学院,南京210016

出　　处：《载人航天》2024年第5期624-631,共8页Manned Spaceflight

基　　金：国家自然科学基金项目(52405025,U21B6002);江苏省自然科学基金项目(BK20230889);机器人技术与系统全国重点实验室开放基金(SKLRs-2023-KF-04)。

摘　　要：为优化月球车运动路径,避开月球陨石坑和高地等月面静态障碍物,以安全、高效抵达目标任务点,提出了一种结合A∗算法和人工势场法的融合算法。首先,利用A∗算法在栅格地图中生成从起点到终点的最优安全路径;然后,设计全局路径分割方法,按阶段进行基于人工势场法的局部路径规划,并基于Lyapunov稳定性理论设计了全局渐进稳定的轨迹跟踪控制律;最后,通过Blender软件制作仿真月表环境,并使用ROS Gazebo仿真平台进行轨迹跟踪仿真验证。仿真结果表明:提出的融合算法生成的移动路径相较于普通A∗算法路径更短,转折次数更少,并加入人工势场算法进行局部避障,极大提高了月球车运动安全性,验证了所提出算法的可行性和有效性。To optimize the motion path of the lunar rover and at the same time avoiding static obsta⁃cles on the lunar surface such as lunar craters and highlands,a hybrid algorithm combining the A∗algorithm and artificial potential field method was proposed.Initially,the A∗algorithm was utilized to generate the optimal safe path from the starting point to the destination on a grid map.Subse⁃quently,a global path segmentation method was designed,and local path planning based on the arti⁃ficial potential field method was conducted in stages.Furthermore,a globally asymptotically stable trajectory tracking control law was designed based on Lyapunov stability theory.Finally,Blender was used to create the simulated lunar surface environment,and the trajectory tracking simulation verification was carried out using the ROS Gazebo simulation platform.The mobile path generated by the proposed fusion algorithm was shorter than the path of the ordinary A∗algorithm,with fewer turns,and the artificial potential field algorithm was added for local obstacle avoidance,greatly im⁃proving the safety of the lunar rover’s motion.The simulation results verified the feasibility and ef⁃fectiveness of the proposed algorithm.

关 键 词：月球车 路径规划 轨迹跟踪 A∗算法 人工势场法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]