Path Planning Technology of Mars Rover Based on Griding of Visibility-graph Map Direction Search Method
Zhuo Tao, Wangjun Zhang, Yang Jia, Baichao Chen · 2022
Based on the Mars surface exploration, this paper studies the autonomous path planning technology of the rover on the Mars surface under the circumstance of the limited computing resources of the Mars Rover. In this paper, the visibility-graph method and the grid method are combined to optimize the grid division method and make the map model more suitable for search processing. On this basis, a direction search method with low computational resource occupancy is proposed to search the established map. Finally, the results of griding of visibility-graph map direction search method are compared with the Dijkstra algorithm. It shows that the griding of visibility-graph map direction search method has less computational time complexity, and can conduct synchronous search during the progress process to obtain a better path. It is a path search algorithm suitable for the process of traveling on the surface of Mars.