航天器工程2019，Vol.28Issue(1)：19-26,8.DOI:10.3969/j.issn.1673-8748.2019.01.003
基于A∗算法优化的月面巡视器路径规划研究
Study on Path Planning of Lunar Rover Based on A? Algorithm Optimization
摘要
Abstract
The rolling window obstacle avoidance algorithm (RWOAA)is adopted by the six-wheel lunar rover to select the optimal arc in given arcs as the walking arc of the rover.Local map information and evaluation function are used in the selection.Without enough map information,it is unreliable to use this algorithm to plan the path of multi-obstacle map.This paper propose an algorithm based on auxiliary line optimization,which integrates global map information into RWOAA.The auxiliary line is generated by the improved A? algorithm,and the auxiliary line is used as one of the selection criteria for the arc of the rover.Simulation experiments show that the improved algorithm has higher success rate and shorter planning path.Real experiments also vali-date the reliability and predictability of the new algorithm.It would be enlightening to use the im-proved algorithm in further research and application on path planning.关键词
路径规划/A∗算法/辅助线/六轮月面巡视器Key words
path planning/A∗ algorithm/auxiliary line/six-wheel lunar rover分类
航空航天引用本文复制引用
王楷文,彭松,刘少创,李海飞..基于A∗算法优化的月面巡视器路径规划研究[J].航天器工程,2019,28(1):19-26,8.基金项目
国家重大科技专项工程 （）
