Cooperative dynamic path planning method for multiple Mars aircrafts

Abstract

The invention discloses a collaborative dynamic path planning method for multiple Mars aircrafts, and belongs to the technical field of Mars exploration. The method comprises the following steps: firstly, determining an off-line cooperative path of a Mars aircraft in a known threat environment by using an off-line cooperative path planning method, and realizing designated area coverage and off-line obstacle avoidance for known threats; secondly, determining a condition that the Mars aircraft detects unknown threats in advance and a starting point and an ending point of local dynamic path planning; and finally, determining a local dynamic obstacle avoidance path of the Mars aircraft to the new threat by using a local dynamic path planning method, and merging the obtained offline cooperative path and the local dynamic path to obtain a final flight path of the Mars aircraft. The multi-Mars aircraft path planning method provided by the invention not only can perform offline collaborative search detection, but also can perform local dynamic obstacle avoidance, meets the requirements of Mars aircraft detection tasks, and has a relatively good engineering application value.

Description

technical field [0001] The invention relates to a method in the field of aircraft path planning, in particular to a collaborative dynamic path planning method for multiple Mars aircraft. Background technique [0002] As the most Earth-like planet in the solar system, Mars has always attracted the constant visits of human probes. So far, Mars is the planet that humans know the most besides Earth. [0003] The current Mars probes are mainly orbiters and rovers. The orbiter has a large detection range, but it cannot do detailed detection; the Mars rover has high detection accuracy, but due to the limitation of its moving range, its detection capability is limited. Because there is a thin atmosphere on the surface of Mars, the appearance of Mars spacecraft has better resolved the contradiction between detection range and detection accuracy, and filled the gap between space-based and road-based detection. The use of Mars spacecraft to perform Mars exploration missions has becom...

AI Technical Summary

Problems solved by technology

[0005] The terrain and environment of Mars are complex, with huge craters and steep valleys. At the same time, the atmosphere of Mars is harsh. There are highly maneuverable and time-sensitive threat areas such as tornadoes, thermal airflows, and sandstorms in the atmosphere, which makes it difficult for Mars spacecraft to detect.

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