面向月球车任务规划的环境建模技术

Environment modeling for mission planning of lunar rovers

从月球车任务规划的实际需要出发,提出一种环境建模技术,综合考虑了月面地形因素和太阳光照影响.除对月面环境进行几何可通行性分析,还结合太阳高度角和月面地形特征综合评价月面太阳光照效果.该环境建模方法同时也考虑了月球车移动能力和工作条件的约束,建立了一个综合月面环境模型.基于该建模技术,可将月球车任务规划问题转化成一系列综合环境模型下的月面路径规划问题.仿真实验结果表明:综合环境模型大大简化了月球车任务规划复杂度,在该环境模型上利用成熟路径搜索算法即可得到月球车任务层次的行驶路径;通过选择不同权重可实现不同需求下的任务路径规划.

Aimed at practical need of mission planning for lunar rovers,a new environment modeling technology is put forward,taking account of both lunar terrain features and solar energy effects. Besides traversability analysis of lunar terrain,new solar energy assessment is computed considering both solar elevation angle and terrain features. Mobility and operation constraints of lunar rovers are also considered in modeling the environment. A synthesized lunar environment model is established, which can be used to convert the mission planning problem to a series of path planning problems based on the model. The simulation results show that the environment model can simplify the mission planning problem significantly. Well-developed path searching algorithm can be easily adopted to find the mission-level path. Different mission planning requirements can be fulfilled through different weights combination in the model.