Global path planning method and device for lunar rover, electronic equipment and storage medium

Abstract

The invention provides a global path planning method and device for a lunar rover, electronic equipment and a storage medium, and the method comprises the steps: generating an initial path from a starting point to a terminal point according to the DEM data and topographic information of a to-be-detected region; determining a target obstacle area according to feature information of a candidate obstacle area in a digital orthograph (DOM) of the to-be-detected area; the candidate obstacle area comprises an impact pit and / or a groove; and determining a lunar rover global path from the starting point to the terminal point according to the initial path and the target obstacle area. According to the method provided by the invention, the global path of the lunar rover is determined through the DEM data and topographic information of the to-be-detected area and the target obstacle area in the DOM of the to-be-detected area by adopting a hierarchical path planning mode, barrier-free driving of the lunar rover on the lunar surface is realized, the problem that the high-resolution DEM is difficult to obtain on the lunar surface is solved, and the accuracy of the detection result is improved. The safety of the lunar rover driving on the lunar surface is ensured, and the reasonability of the global planning path of the lunar rover is improved.

Description

technical field [0001] The invention relates to the technical field of motion planning, in particular to a global path planning method, device, electronic equipment and storage medium for a lunar rover. Background technique [0002] With the in-depth exploration of the moon, with the goal of developing lunar resources and establishing a lunar base, unmanned or manned lunar vehicles will carry out large-scale, long-distance personnel movement, material resource transportation, and scientific experiment mobile detection on the surface of the moon. etc. will be the main mode of transportation on the surface of the moon. The accessibility assessment and route planning of the lunar rover are the key to the safe and efficient driving of the lunar rover on the surface of the moon, and are also an important step in patrolling, positioning and navigation; among them, the accessibility assessment and driving path planning of the lunar rover refer to the comprehensive Considering vari...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a global path planning method, device, electronic equipment and storage medium for a lunar rover, which are used to solve the obstacle defect that the lunar rover cannot pass through the global path planned according to the low-resolution DEM, realize hierarchical path planning, and improve The safety and rationality of the global path planning of the lunar rover

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