With the rapid advancement of the international lunar scientific research station program,re-search on lunar base-related technologies has received widespread attention.This article focuses on the ap-plication background of autonomous contact interaction between different devices in the lunar base scenar-io.Considering that different devices need to accurately identify each other when performing autonomous contact interaction and plan a smooth and optimal route to ensure smooth round-trip activities,a lunar base simulation environment based on Webots is built to conduct target detection and path planning exper-iments.The interactive device equipped with high-precision RGB cameras in the front and rear is used as the carrier to perform target detection in the lunar base scenario based on TPH-YOLOv5.In addi-tion,a path planning algorithm based on Bidirectional RRT for interactive devices in the lunar base scenario is designed and implemented to ensure the smooth progress of related work of interactive devices in the lunar base environment.Simulation results show that the target detection and path planning algorithms used can achieve the expected functionality.
关键词
月球基地设备交互/TPH-YOLOv5目标检测/双向快速扩展随机树/路径规划
Key words
Lunar base device interaction/TPH-YOLOv5 target detection/Bidirectional RRT/Path planning
维普
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