关键词: 月面巡视机器人, 大范围探测, 欧几里得距离地图, FSA^*算法, 安全启发式函数

Abstract: To promote the efficiency and safety of autonomous detection tasks of lunar rovers, a fast and safe path planning algorithm for large-scale autonomous detection based on the lunar surface digital elevation map is proposed. A terrain trafficability analysis method is firstly designed according to the lunar digital elevation map, and a Euclidean Distance Map (EDM) is generated to provide reference for safe path planning. Then, aiming at the problems of slow searching speed and lack of consideration of path security when algorithm A^* solves the problem of lunar surface patrol detection, we propose algorithm FSA^*, improve the search mechanism of algorithm A^* for the fast search of the large-scale path on the lunar surface, and design a safe heuristic function in combination with the EDM map, making the generated path as far away from the dangerous area as possible to enhance the safety of autonomous detection process of the lunar rover. Finally, the Aitken basin of the moon is selected as the simulation scene to verify the effectiveness of the algorithm.

Key words: lunar rovers, large-scale detection, Euclidean distance map, algorithm FSA^*, safe heuristic function