Autonomous local obstacle avoidance path planning of Lunar surface exploration rovers

被引：0
|
作者：
Xing Y. [1 ,2 ]
Liu X. [1 ,2 ]
Teng B.-Y. [1 ,2 ]
Mao X.-Y. [1 ,2 ]
机构：
[1] Beijing Institute of Control Engineering, Beijing
[2] Key Laboratory of National Defense Science and Technology for Space Intelligent Control Technology, Beijing
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2019年 / 36卷 / 12期
关键词：
Autonomous navigation; Local obstacle avoidance; Lunar surface exploration; Path planning;
D O I：
10.7641/CTA.2019.90590
中图分类号：
学科分类号：
摘要：
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. © 2019, Editorial Department of Control Theory & Applications. All right reserved.
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页码：2042 / 2046
页数：4
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