基于空间可视性的星球表面巡视路径分析

Aster Surface Patrol Path Analysis Based on Space-visibility

针对巡视器在着陆区内巡视效率和安全巡视率低的问题,利用着陆器相机在悬停阶段获取的实时数字高程模型(DEM)地形数据,结合并依据巡视器的结构特点、越障能力、空间可视性、科学探测价值等,提出了一种对整个区域的巡视路径分析方法。仿真结果表明:在月球巡视器结构及越障能力已知的情况下,该分析方法能提供一种可靠、高效的初始巡视路径,可为星球表面巡视规划提供参考。

In view of the low efficiency and low rate of safe patrol inspection in the landing area of the patrol rover, the real-time landing area DEM terrain data obtained by the lander camera in hover is used in this paper to propose a new patrol route analysis method, according to the rover structure, obstacle climbing capability, space-visibility and scientific exploration value. The simu-lation results show that the method can provide a reliable and efficient initial patrol path when the lunar rover structure and obstacle climbing capability are known, which can provide reference for planetary patrol program.