Study on Path Planning of the Lunar Rover with Manipulator
Jia Yang · Spacecraft Engineering · 2010
The path planning of the lunar rover is different from that of the manipulator. Their execution needs planning in turn. According to this character mentioned above,the process of path planning of the lunar rover is divided into three phases: the path planning of the lunar rover,the path planning of the manipulator,the path planning of the rover with manipulator. This paper gives different planning methods fitting into different phases,which are validated by simulation. And the simulation result shows that the whole process of the path planning of the lunar rover with manipulator is a complicated one. The path planning of the rover on the unstructured lunar rover environment can be completed by using improved A* arithmetic. And on the basis of acquiring the reachable workspace of the manipulator and using Monte Carlo method,the path planning of the manipulator can be taken quickly. In a word,the whole process of the rover detecting on one target needs combination of the two planning methods mentioned above.