| 基于SD*lite的月球车任务规划算法 |
| |
| 引用本文： | 董少洋,居鹤华. 基于SD*lite的月球车任务规划算法[J]. 计算机测量与控制, 2012, 20(9): 2532-2535 |
| |
| 作者姓名： | 董少洋 居鹤华 |
| |
| 作者单位： | 北泵工业大学电子信息与控制工程学院,北京,100124 |
| |
| 基金项目： | 国家863高科技资助项目，国家自然科学基金资助项目 |
| |
| 摘 要： | 月球车任务规划是在给定初始位置和目标位置,满足月面地形约束、工作模式约束以及能量约束的前提下,规划出月球车最优的路径。设计了一种月球车任务规划的模型,提出了一种基于SD*lite算法的规划器,在原有SD*lite算法的基础上进一步考虑了对可用资源的限制;它可以协助月球车在考虑太阳能帆板的能量约束的条件下,合理避障最终达到目标点,使规划的轨迹更符合实际。
|
| 关 键 词： | 月球车 任务规划 能量约束 |
A Mission Planning Algorithm of the Lunar Rover Based on SD * Lite |
| |
| Dong Shaoyang , Ju Hehua. A Mission Planning Algorithm of the Lunar Rover Based on SD * Lite[J]. Computer Measurement & Control, 2012, 20(9): 2532-2535 |
| |
| Authors: | Dong Shaoyang Ju Hehua |
| |
| Affiliation: | (College of Electronic Information and Control Engineering,Beijing University of Technology,Beijing 100124,China) |
| |
| Abstract: | Lunar rover mission planning is a method to plan a lunar rover optimal path considering the initial position and target position and also the constraints of surface topography,mobility constraints,communication constraints,work mode constraints and energy constraints.This paper designs a lunar rover mission planning model and proposes an algorithm planner based on SD*lite,which includes the effect of the limited available resources.It can help the lunar rover get the goal following a reasonable path under the constraint of solar panels energy. |
| |
| Keywords: | lunar rover mission planning energy constraint |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
