为提高月面巡视机器人自主探测任务的效率及安全性，提出了一种基于月面数字高程地图的大范围自主探测快速安全路径规划算法。首先根据获取的月面数字高程地图设计了一种地形可通过性分析方法，并生成了欧几里得距离地图（EDM）为安全路径规划提供参考。然后针对A*算法解决月面巡视探测问题时搜索速度慢、未考虑路径安全性的问题，提出了FSA*算法，改进了A*算法的搜索机制以适用于月面大范围路径的快速搜索，并结合EDM地图设计了一种安全启发式函数，可使生成路径尽量远离危险区域，提高了巡视机器人自主探测过程的安全性。最后选取月球艾特肯盆地区域作为仿真场景，验证了该算法的有效性。
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.
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