Bezier曲线与A-Star算法融合的火星探测器路径规划

Mars rover path planning based on Bezier curve and A-Star algorithm

使用移动探测器探索火星表面是各大航天国家探索火星的主流方式。为了得到探测器的安全路径,提出一种基于改进A^(*)算法的火星探测器路径规划算法。通过改进路径信息算法中的权重因子,优化传统算法的目标函数,可省略大量无价值的搜索路径,缩短搜索的时间,提高搜索效率。相比于传统的路径规划该算法能缩短53.94%的时间;引入拐角优化算法,在路径长度基本一致的情况下,减少了全局路径中拐弯的次数;满足探测器高效稳定的运行需求,拐角优化后,转弯次数相能减少16.77%。通过四阶贝塞尔曲线对路径进行平滑处理,有效避免出现拐角尖峰,确保探测器在火星表面的平稳行进。

Exploring the surface of Mars with a mobile rover is the mainstream way for major spacefaring nations to explore Mars.In order to get a safe path for the rover,a Mars rover path planning algorithm based on the improved AStar algorithm is proposed.By improving the weight factor in the path information algorithm and optimizing the objective function of the traditional algorithm,a large number of worthless search paths can be omitted,shortening the time of search and improving the search efficiency.Compared with the traditional path planning can shorten 53.94%of the time;the introduction of corner optimization algorithm,in the case of the path length is basically the same,reduce the number of turns in the global path;to meet the needs of efficient and stable operation of the detector,corner optimization,the number of turns can be reduced by 16.77%.The path is smoothed by the fourth-order Bessel curve,effectively avoiding the appearance of corner spikes and ensuring the smooth travel of the rover on the surface of Mars.