弱全局信息下月面超远距离保通行性移动规划

Aiming at the problem of insufficient path passable caused by the lack of global information such as high-precision map and navigation data, the construction of the lunar road topology network and the corresponding path planning technology are proposed, relying on the connectivity ability of the complex road network to improve the passable probability of the ultra-long-distance movement path of the rover. Firstly, the design method of lunar road topology network is studied, and the network node design method based on sliding optimal Poisson sampling algorithm and the network structure design method based on uniform neighbor network topology model are proposed respectively, make the network nodes of the lunar road network evenly distributed, moderate density and complete coverage, reasonable network connection, and each path away from the obstacle area as far as possible. Then, the ultra-long distance mobility planning based on lunar road topology network is studied, the probability completeness and overall traffic ability probability of path planning technology based on lunar road topology network are analyzed, and a K-optimal path planning method based on lunar road topology network is proposed, the overall traffic ability probability of ultra-long distance mobile detection mission is improved through the connectivity of road network. Finally, the effectiveness of this method is verified by taking the ultra-long distance transfer between the landing sites of two Apollo missions as the simulation scenario.