Autonomous Behavior Path Planning for Lunar Rover
Ju He · Acta Automatica Sinica · 2004
This paper deals with a new autonomous behavior path planning method for the lunar rover, which adapts to any obstacles and allows for the real world with large area. The path-planning scheme greatly improves computation egeometrics based path planning methods by using a group of adaptive and oriental behaviors which simulate hu-man behaviors for path planning to construct the topological graph of Tangent-Bug auto-matically and quickly. At the same time, basic terms, definitions and theorems of the method as well as simulation results in the real world are presented.