月球表面巡视探测自主局部避障规划

Autonomous local obstacle avoidance path planning of Lunar surface exploration rovers

路径规划是月球表面巡视探测自主导航的重要功能,是提高地外天体表面探测效率和安全性的关键.国外已实现的地外天体表面自主路径规划方法以局部避障为主要目标,不考虑全局目标可达性和完备性,本文针对该问题,提出一种基于地形通过性定量评价和目标可达的综合自主局部避障规划方法,通过对稠密地形数据进行可通过性能的综合评价,并考虑与目标的方位和距离,规划出能够到达目标的避障安全路径.该方法已经成功应用于我国"玉兔号"和"玉兔二号"月球车的自主导航中.

Path planning is an important part in autonomous navigation of Lunar surface exploration and the key to improve the efficiency and safety of exploration to extraterritorial objects. The realized autonomous path planning methods mainly focus on local obstacle avoidance, not taking in consideration the global goal accessibility and completeness. In this paper a kind of synthesized autonomous local obstacle avoidance path planning method based on quantitative analysis of terrain traversability and goal accessibility is presented to solve above problem. In this method dense terrain data based terrain traversability and relative position to target are taken in assessment together to plan a safe path which can both direct to the final goal and avoid the obstacle. The method presented in this paper has been applied into the "Jade Rabbit" and"Jade Rabbit 2" Lunar rovers and validated successfully.