月面巡视器的任务层路径规划

使用巡视器对月球表面进行巡视探测是一种高效率、低成本的月球探测方法。路径规划作为巡视器的一项重要技术,通常把它作为导航系统的一部分,只考虑地形通过性的问题。实际上除了地形通过性,还有很多因素对路径选择起到决定性的作用。针对月面巡视器,在大范围区域综合考虑地形、能源、热控、通信等全局因素,给出了一种新的路径规划方法——实时贪婪（Realtime Greedy,RG）算法。运用该算法得到了任务层路径,为巡视器的导航系统提供路标点,并为巡视器的动作安排提供了依据。

Mission-Level Path Planning for Lunar Rover

Rover is a high-efficiency and low-cost tool for moon exploration,and path planning is a key technology for a rover. Usually,path planning is one of the functions of the navigation system,in which terrain is a primary factor to be considered. In fact,besides terrain,some other factors are also very important for choosing a path. This paper deals with a kind of the path selection for lunar rover in wide area by combination of multi-factors e.g. terrain,energy,temperature,communication and shadow. And a new algorithm called RG（Real-time Greedy） is given for getting the mission-level path,which provides the guide points for the rover navigation and supports the rover action planning.