一种基于离散化位姿的月球车运动规划方法

A Motion Planning Method for Lunar Rover via Discretization C-Space

针对障碍环境下具有非完整约束月球车的运动规划问题,提出了一种基于离散化位姿的月球车运动规划方法。该方法首先将月球车的运动轨迹限定于多项式旋线,通过求解多项式旋线参数生成无障碍条件下连接任意位姿状态的运动轨迹。同时,该方法对月球车运动规划问题中的位姿状态空间进行离散化,形成离散化的位姿状态空间。根据离散化位姿状态空间的特点,在离线的条件下生成连接相邻离散位姿的月球车基本的运动轨迹集。最后该方法结合基本运动轨迹集并利用启发式搜索算法最终解决障碍条件下的运动规划问题。基于动力学仿真平台中的实验结果验证了该方法的正确性和有效性。

A novel motion planning approach is presented for lunar rovers with nonholonomic constrain in environment with obstacles.The parameters of trajectories based on polynomial spirals are solved to generate trajectories between different configurations in the region without obstacles.The configuration space of the motion planning problem is discretized.By utilizing properties of the discretization C-Space,a set of trajectory primitives is generated off-line.With trajectory primitives,graph search methods are used to find a final motion trajectory in an environment with obstacles.The experiment results with the dynamic simulation platform show the correctness and efficiency of the approach.