飞控与探测2023，Vol.6Issue(4)：36-44,9.
面向月面复杂环境的自主导航及跨平台仿真系统的研究
Research on Autonomous Navigation and Cross-Platform Simulation System for Complex Environment on the Lunar Surface
摘要
Abstract
The research on autonomous navigation of unmanned vehicles in lunar environments is still facing huge challenges and is of great importance in the scenario of lunar exploration.In this paper,an autonomous navigation method in unstructured environments based on terrain constraints is proposed.An efficient path search and trajecto-ry optimization algorithm based on octree maps is proposed to generate trajectories that can effectively avoid various obstacles in the environment and reach the specified destination.The simulation experiments are conducted in Gaze-bo and the results show that the method proposed achieved excellent performance in mapless navigation tasks.However,Gazebo has deficiencies in human-computer interaction,the intention is to use Unity in Windows for hu-man-computer interaction.In the ROS-Windows interaction method,a TCP connection based on rosserial_serve is designed and the Visual Studio solution is used to generate a Win32 console application that reads and writes local files through IO streams to complete the interaction of target points and other information;at the same time,the simulation system,which combines the PhysX physics engine with human-computer interaction,provides the ability to reproduce the vehicle's position on the lunar surface,set hazard zones and plan path points,completing a Unity-based recreation of the pathfinding scenario.关键词
月面探测/自主导航/人机协同/跨平台/Unity/GazeboKey words
lunar surface exploration/autonomous navigation/human-machine collaboration/cross-platform/Unity/Gazebo分类
航空航天引用本文复制引用
张富照,武海雷,曹姝清,张雪松,周波,苏林,易建军..面向月面复杂环境的自主导航及跨平台仿真系统的研究[J].飞控与探测,2023,6(4):36-44,9.基金项目
上海航天创新基金(SAST2020-059) （SAST2020-059）
