弱全局信息下月面超远距离保通行性移动规划

针对月面超远距离移动规划任务因缺乏精确全局信息而导致的规划路径可通行性不足问题，提出了月面道路拓扑网的构建设想及相应路径规划技术，凭借复杂道路网络的连通能力确保巡视器超远距离规划路径的可通行性。首先进行月面道路拓扑网的设计方法研究，分别提出了基于滑动最优泊松采样算法的网络节点设计方法和基于均匀领邻网络拓扑模型网络结构设计方法，使月面道路网网络节点分布均匀、密度适中且覆盖完整，网络连接合理且各路径尽量远离障碍区域。然后进行基于月面道路拓扑网的超远距离移动规划研究，分析了基于月面道路拓扑网路径规划技术的概率完备性和整体可通行概率，并提出了基于月面道路拓扑网的K优路径规划方法，通过道路网的连通性来提高超远距离移动探测任务的整体可通行概率。最后以阿波罗两次登月任务的着陆点之间进行超远距离转移任务为仿真场景，验证了本方法的有效性。

Lunar Ultra Long Distance Path Planning under Weak Global Information with Passability Guarantee

Aiming at the problem of insufficient path passable caused by the lack of global information such as high precision map and navigation data, the construction of the lunar road topology network and the corresponding path planning technology are proposed, relying on the connectivity ability of the complex road network to improve the passable probability of the ultra long distance movement path of the rover. Firstly, the design method of lunar road topology network is studied, and the network node design method based on sliding optimal Poisson sampling algorithm and the network structure design method based on uniform neighbor network topology model are proposed respectively, make the network nodes of the lunar road network evenly distributed, moderate density and complete coverage, reasonable network connection, and each path away from the obstacle area as far as possible. Then, the ultra long distance mobility planning based on lunar road topology network is studied, the probability completeness and overall trafficability probability of path planning technology based on lunar road topology network are analyzed, and a K optimal path planning method based on lunar road topology network is proposed, the overall trafficability probability of ultra long distance mobile detection mission is improved through the connectivity of road network. Finally, the effectiveness of this method is verified by taking the ultra long distance transfer between the landing sites of two Apollo missions as the simulation scenario.