Planning method and system for lunar surface inspection and detection task

Abstract

The invention discloses a method and a system for planning a lunar surface inspection and detection task, and relates to the field of lunar surface detection. The method comprises the following steps: calculating a path according to a path starting point and a path ending point of a navigation point in an input lunar surface patrol detection task, setting a plurality of path state parameters in the path, and controlling a patrol device for executing the lunar surface patrol detection task, according to the method, actions of partial or all path state parameters are executed in sequence according to a preset sequence under a preset constraint condition, a detection task is finished after the actions are executed, and when a specific planning problem is described, lunar surface patrol task planning can be realized only by appointing a detection point without determining an action sequence in an intermediate process, so that the method is simple and convenient. The method has good flexibility and practicability, can cope with a terrain environment with complex constraint, can gradually perceive the surrounding environment in the detection process, and selects a detection target and an inspection route.

Description

technical field [0001] The invention relates to the field of lunar surface detection, in particular to a planning method and system for lunar surface inspection and detection missions. Background technique [0002] Task planning refers to the selection and organization of a set of action sequences under the premise of a given set of actions and action constraints, the initial state of the task, and the task goal. Mission planning is a problem highly related to specific application fields, and the techniques involved in mission planning problems in different fields are different. [0003] In deep space exploration missions such as lunar exploration and Mars exploration, the remote operation of the rover after landing on the surface of an alien planet is an important task link, and mission planning is a key and difficult task in the remote operation control of the rover. Different from orbital spacecraft control tasks, patroller teleoperation mainly faces process uncertaintie...

AI Technical Summary

Problems solved by technology

Different from orbital spacecraft control tasks, patroller teleoperation mainly faces process uncertainties. It needs to gradually perceive the surrounding environment during the detection process, and select detection targets and patrol routes. The task process is difficult to pre-determine, and the constraints are complex. The next step plan of the patrol can be formulated based on the constraints of the terrain environment around the patrol, the technical scheme of the patrol detection technology, and the externally designated scientific detection target. The existing technical solutions cannot avoid the defects of process uncertainty and complex constraints at the same time. Unable to achieve good lunar surface inspection effect

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