Dynamic Trajectory Planning and Tracking Algorithm of Lunar Rover with Updating Map Information
Pengqi Zhang, Yuhao Hua, Tong Li · 2022
At present, the remote sensing map still cannot perfectly describe the detailed characteristics of the moonscape, which poses a challenge to the trajectory planning of the lunar rover in the application of moonscape exploration and survey missions. This paper proposes a dynamic trajectory planning and tracking algorithm based on real-time updating of moonscape map information. Firstly, the large-scale telemetry map is rasterized. The Chebyshev distance is used to construct the cost function of grid node connection, and the node connection trajectory with the lowest cost is selected as the initial trajectory. The pure tracking algorithm is used to track the trajectory, and the topographical information of the map is updated in the process. When obstacle nodes (namely the terrain that exceeds the rover’s own motion ability) are perceived in the initial trajectory, the cost of obstacle nodes and surrounding nodes is corrected, so as to update and optimize the trajectory. The effectiveness of the dynamic trajectory planning and tracking algorithm proposed in this paper is verified by simulation. Compared with other methods, this algorithm can be adapted for the application scenarios with incomplete map information, as well as efficiently update the optimal trajectory and maintain high precision trajectory tracking. So that the safety of the lunar rover moving on the moonscape can be guaranteed.