Path Planning Method for Water Exploration in the Lunar Polar Regions Using Informed RRT* Algorithm
Akinori HOZU, Kazumune Hashimoto, Shigemasa Takai · Transactions of the Society of Instrument and Control Engineers · 2025
For water exploration in the lunar polar region, we are considering a path planning method directed towards a predefined and dynamically changing target region (in this case, the sunlit region). We propose a novel path planning method that utilizes a mathematical modeling algorithm for neutron detectors, which is based on a Bayesian network, and adapts Informed RRT* algorithm. This algorithm automatically sets the search space based on the time-varying environment, such as a changing sunlight region, and incorporates its map cost. We believe that the proposed method can be practically applied for exploration in time-varying sunlight regions and can identify optimal routes. Furthermore, we have applied the proposed algorithm to ideal data and have verified its effectiveness.