Working-mode planning of rover in lunar exploration environment
Hongxia Xu, Hehua Ju, Wang Baofeng · 2014
Mission planning of rover in lunar exploration environment is the key technology for scientific exploration at specified location. During the moving to destination, rover executes various working-modes including sensing, charging, detecting, sleeping and moving. The execution of each kind of working-mode needs to abide by some interior constraints when rover switches to different working-modes, furthermore, also needs to fulfill some external constraints, such as terrain passing ability, communication window to the earth, visibility to the sun. Under these constrains, a heuristic searching algorithm is used to plan and expand in the state spaces of executable working-modes. In the end, a sequence of working-mode under the condition of least cost is output, and thereby the task requirement of exploration at specified location is satisfied.