Research on Long-distance Accessibility Analysis and Path Planning Method of Lunar Rover
The absence of comprehensive high-resolution digital elevation models(DEMs)across the lunar surface presents a significant obstacle to long-distance accessibility and path planning for lunar rovers.In this paper,a hierarchical path planning scheme that combines high-resolution im-agery with global DEM data is proposed to overcome this challenge.First,path planning is conduc-ted using a medium-resolution(20 meters)global DEM.Then,meter-level remote sensing imagery is employed to generate orthoimages surrounding the initial path.After that,path optimization is car-ried out based on the derived high-resolution orthoimages,resulting in finalized long-distance path planning.To validate the proposed approach,regions of scientific interest,such as Mare Fecundita-ti,the southwest Mare Fecunditati,and the Vallis Snellius,are selected as a large experimental area for conducting long-distance accessibility analysis and path planning experiments.The accuracy of the planning results is assessed using local high-resolution DEMs.Experimental findings indicate that the proposed method can ensure the reliability of lunar rover path planning,even under the con-straints imposed by limited high-resolution DEMs.This methodology offers critical technical support for the design,mission validation,and subsequent engineering execution of China's new lunar rov-er.
NETL
NSTL
万方数据
维普
