Road Signs-based Navigation for Large-scale and High-efficiency Drivingon Lunar Surface
In future manned lunar exploration,the complexity of the lunar surface environment and the limitations of the onboard systems mean that relying solely on onboard navigation systems is in-sufficient for achieving fully autonomous,precise navigation.The utilization of a remote operation center is needed to provide intelligent support for the large scale movement of the manned rover.This paper addresses the issue of efficient navigation for manned rovers undertaking long-distance ex-plorations in the complex lunar terrain.A method for efficient,large-scale lunar navigation guided by regional landmarks was proposed.By analyzing the imaging area of the navigation camera on the manned rover,craters within the entire route's visible area were constructed into a lunar landmark map.Furthermore,a navigation camera landmark map was created from the rover's camera images of lunar craters,and the method of subgraph matching was used to determine the correspondence be-tween craters within the rover's visible area and those in lunar satellite imagery,thereby solving for the rover's position and orientation.Experiments with simulation data showed that the method pro-posed in this paper could achieve efficient navigation during large scale movement.
万方数据
维普
