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Rapid planning method for surface global path of planet

A planetary surface and path technology, applied in the field of deep space exploration, can solve problems such as limited application scope, complex implementation, and large amount of calculation.

Inactive Publication Date: 2013-02-13
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0006] The purpose of the present invention is to solve the problems of large amount of calculation, complex implementation and limited application range of the existing global path planning method for planetary exploration robots, and propose a fast global path planning method for planetary surface that combines Dijkstra algorithm and genetic algorithm

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  • Rapid planning method for surface global path of planet
  • Rapid planning method for surface global path of planet

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Embodiment Construction

[0034] In order to better illustrate the purpose and advantages of the present invention, the technical content will be further described below in conjunction with the embodiments and accompanying drawings.

[0035] In this embodiment, the specific implementation steps of the hybrid path planning method combining the Dijkstra algorithm and the genetic algorithm are as follows:

[0036] (1) Obtain the obstacle distribution information map in the area to be planned for path planning, analyze and process the obtained obstacle distribution information map, select some feasible nodes in the feasible area that can avoid obstacles, and perform feasible area analysis on these nodes. The connectivity within, the selection of nodes in this embodiment and the connectivity within the feasible region meet the following conditions:

[0037] a. The selection of nodes satisfies the linear mathematical constraints y k =cx k +d(a k k k ), (x k ,y k ) is the global coordinate of the kth nod...

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Abstract

The invention relates to a rapid planning method for a surface global path of a planet, and belongs to the technical field of deep space exploration. The method comprises the following steps of: firstly obtaining an obstacle distribution information graph in a region to be subjected to path planning, carrying out analysis process on the graph, selecting a plurality of feasible nodes in the feasible region capable of avoiding obstacles and carrying out path connection in the feasible region according to the selected nodes; obtaining the coordinate information of the nodes, creating a network topology which the path planning needs by adopting a Dijkstra algorithm and planning an initial optimal path through taking the length of the path as the constraint condition; and taking the path length function as a fitness function, taking the mathematical function relationship followed in the process of selecting the nodes and the constraint range of the coordinates as a to-be-optimized object and the constraint condition of a genetic algorithm, optimizing the initial optimal path by adopting the genetic algorithm and outputting the optimization result used as the final planning path. The method has the advantages of simplicity in algorithm, high efficiency, good generality and strong expandability.

Description

technical field [0001] The invention relates to a fast global path planning method on the surface of a planet, belonging to the technical field of deep space exploration. Background technique [0002] With the progress and development of science and technology, planetary exploration has become one of the hotspots of space activities in the 21st century, but the surface of the planet has extremely harsh environmental conditions, such as high vacuum, microgravity, high temperature difference, and strong radiation environment. It is difficult for human beings to survive under such conditions. Therefore, in this case, planetary exploration robots must be used instead of astronauts to land on the surface of the planet and do actual surveys and scientific mission exploration on the surface of the planet. [0003] When a planetary exploration robot works on the surface of a planet, in addition to remote control through the ground, it is also necessary for the detection robot to ha...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
Inventor 徐瑞崔平远朱胜英高艾曲鹏程
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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