未来行星表面漫游车自主导航技术研究

随着深空探测的距离越来越远，测控资源及能源的约束使得目前的行星表面漫游车采用遥操作加部分自主移动的在轨任务操作方式，越来越不适应未来科学探测的需求，而未来的深空探测任务对漫游车控制系统提出了更快、更轻、更智能的要求.对目前月球与火星表面漫游车自主导航控制系统的结构、能力进行了对比分析，给出了目前控制系统自主能力的约束条件，提出了未来行星表面漫游车的自主导航控制系统的体系结构及设计期望，并对未来行星表面漫游车自主等级进行了初步划分，为我国未来行星表面漫游车自主导航控制系统的研究提供技术支撑与发展规划指导.

Autonomous-Navigation Technology of Planetary Rover

With the distance of deep space exploration getting farther and farther, the current planetary rover operating mode using the teleoperation and partial autonomous movement cannot meet the needs of future scientific exploration, as the constraints of teleoperation capability and energy. Moreover, the future of deep space missions puts forward faster, lighter, more intelligent requirements for rover control systems. Firstly, the structure and capability of the autonomous navigation control system of the current lunar and Martian planetary rovers are compared and analyzed in this paper. Secondly, the constraints of the autonomous capability of the current control systems are given, and the architecture and design expectation are put forward for the autonomous navigation control systems of future planetary rovers. Thirdly, the autonomous level of the planetary rovers are divided preliminarily. Finally, the technical support and development planning guidance are provided for the research of autonomous navigation control system of planetary rovers in the future.