中国空间科学技术2023，Vol.43Issue(6)：11-24,14.DOI:10.16708/j.cnki.1000-758X.2023.0079
月基装备自主路径规划研究与展望
Research and prospect on autonomous path planning for lunar based equipment
摘要
Abstract
Considering the complexity of extreme lunar environments and the high cost of lunar exploration,using highly automated lunar based equipment for tasks such as lunar exploration,material transportation and base construction is the best choice.The autonomous movement of lunar based equipment relies on path planning.Therefore,based on the impact of extreme lunar environments and complex terrain on the autonomous movement of lunar based equipment,aiming at the autonomous path planning problem of lunar based equipment,four commonly used algorithms for global path planning are described:heuristic algorithm,sampling based algorithm,graph search based algorithm,and artificial intelligence algorithm,as well as two main local path planning methods:vision based path planning method and laser radar based path planning method.The advantages,disadvantages,and application scenarios of existing autonomous path planning methods for lunar based equipments from home and abroad are summarized,and the development trend of autonomous path planning for lunar based equipment is prospected,providing a reference for the design and application of future lunar based equipment.关键词
月基装备/自主移动/路径规划算法/月面地形/避障算法Key words
lunar based equipment/autonomous mobility/path planning algorithm/lunar surface terrain/obstacle avoidance algorithm分类
航空航天引用本文复制引用
王中旭,鲁亚楠,周燕,文世峰,周诚..月基装备自主路径规划研究与展望[J].中国空间科学技术,2023,43(6):11-24,14.基金项目
国家重点研发计划"轻量化可重构月面建造方法研究"(2021YFF0500300) （2021YFF0500300）
