基于SD*lite的月球车任务规划算法

A Mission Planning Algorithm of the Lunar Rover Based on SD*Lite

月球车任务规划是在给定初始位置和目标位置,满足月面地形约束、工作模式约束以及能量约束的前提下,规划出月球车最优的路径。设计了一种月球车任务规划的模型,提出了一种基于SD*lite算法的规划器,在原有SD*lite算法的基础上进一步考虑了对可用资源的限制;它可以协助月球车在考虑太阳能帆板的能量约束的条件下,合理避障最终达到目标点,使规划的轨迹更符合实际。

Lunar rover mission planning is a method to plan a lunar rover optimal path considering lhe initial position and target position and also the constraints of surface topography, mobility constraints, communication constraints, work mode constraints and energy con- straints. This paper designs a lunar rover mission planning model and proposes an algorithm planner based on SD ~ lite, which includes the effect nf the limited available resources. It can help the lunar rover get the goal following a reasonable path under the constraint of solar pan els energy.