Lunar rover global path planning method, device, electronic device and storage medium

Abstract

The present invention provides a lunar rover global path planning method, device, electronic device and storage medium, the method comprising: generating an initial path from a starting point to an end point according to digital elevation model DEM data and terrain information of an area to be detected; determining a target obstacle area according to feature information of a candidate obstacle area in a digital orthophoto map DOM of the area to be detected; the candidate obstacle area includes impact craters and / or grooves; determining a lunar rover global path from a starting point to an end point according to the initial path and the target obstacle area. The method provided by the present invention adopts a hierarchical path planning method, determines a lunar rover global path through DEM data and terrain information of the area to be detected, and a target obstacle area in the DOM of the area to be detected, realizes barrier-free driving of the lunar rover on the lunar surface, solves the problem of difficulty in obtaining high-resolution DEM on the lunar surface, ensures the safety of the lunar rover driving on the lunar surface, and improves the rationality of the lunar rover global planning path.

Description

Technical Field

[0001] The present invention relates to the field of motion planning technology, and in particular to a lunar rover global path planning method, device, electronic equipment and storage medium. Background Art

[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 rovers will be the main mode of transportation on the lunar surface for large-scale, long-distance personnel movement, material resource transportation, and scientific experiment mobile exploration. 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 lunar surface, and are also important steps in patrol positioning and navigation; among them, the accessibility assessment and route planning of the lunar rover refer to the process of evaluating the accessibility of the lunar rover from the starting point to the target point and planning its optimal driving path under the comprehensive consideration of various environmental factors and the capabilities of the lunar rover itself, requiring the lunar rover to be able to travel without obstacles during the driving process, and the path from the starting point to the end point is the shortest.

[0003] According to the scope of the planned path, for the more distant targets, the lunar rover's accessibility and path optimization are considered, which is called the lunar rover's global path planning. In the lunar rover's global path planning, the digital elevation model (DEM) data of the lunar rover's exploration area is mainly used to obtain the elevation value of each location point, calculate the terrain information such as the slope of each location point in the exploration area, and construct the driving cost information of each location point based on the terrain information to plan the lunar rover's path.

[0004] At present, the DEM used for full coverage of the lunar surface is mainly generated by two types of lunar orbiter remote sensing data: laser altimeter data and stereo images. Although the laser altimeter data has high elevation accuracy, the point density is limited and it is impossible to obtain a high-resolution DEM. Stereo images are limited by the coverage range and it is difficult to obtain a high-resolution DEM covering the entire moon. The currently commonly used SLDEM fused from these two types of data still has low resolution and limited coverage. The reliability of global path planning based on low-resolution DEM cannot meet the demand, and there are still many obstacles that cannot be passed, making it impossible to ensure the safety of the lunar rover during driving, and the planned path is also unreasonable. Summary of the invention

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

[0006] The present invention provides a lunar rover global path planning method, comprising:

[0007] Generate an initial path from the starting point to the end point based on the digital elevation model (DEM) data and terrain information of the area to be detected;

[0008] Determine the target obstacle area according to the characteristic information of the candidate obstacle area in the digital orthophoto map DOM of the area to be detected; wherein the candidate obstacle area includes impact craters and / or grooves;

[0009] A global path of the lunar rover from the starting point to the end point is determined according to the initial path and the target obstacle area.

[0010] According to a lunar rover global path planning method provided by the present invention, generating an initial path from a starting point to an end point according to digital elevation model DEM data and terrain information of an area to be explored includes:

[0011] Determine the first cost of each position point in the area to be detected according to the DEM data and terrain information of the area to be detected;

[0012] An initial path from a starting point to an end point is generated according to a first cost of each position point in the area to be detected.

[0013] According to a lunar rover global path planning method provided by the present invention, generating an initial path from a starting point to an end point according to a first cost of each position point in the area to be explored includes:

[0014] Determine the difference between the first costs of any two adjacent position points according to the first costs of each position point in the area to be detected;

[0015] determining at least one initial path cost based on the difference of the first costs;

[0016] Based on the initial path cost, an initial path from the start point to the end point is generated.

[0017] According to a lunar rover global path planning method provided by the present invention, the characteristic information includes: depth-to-diameter ratio and / or width;

[0018] The step of determining the target obstacle area according to the feature information of the candidate obstacle area in the digital orthophoto map DOM of the area to be detected includes:

[0019] In the case where the candidate obstacle area is an impact crater and the characteristic information is a depth-to-diameter ratio, according to the characteristic information of the candidate obstacle area in the DOM of the area to be detected, a candidate obstacle area in which the depth-to-diameter ratio of the impact crater in the candidate obstacle area is greater than a first target threshold is determined as a target obstacle area; and / or,

[0020] When the candidate obstacle area is a groove and the characteristic information is width, according to the characteristic information of the candidate obstacle area in the DOM of the area to be detected, the candidate obstacle area whose groove width ratio is greater than the second target threshold in the candidate obstacle area is determined as the target obstacle area.

[0021] According to a lunar rover global path planning method provided by the present invention, determining the lunar rover global path from the starting point to the end point according to the initial path and the target obstacle area includes:

[0022] Determine at least one candidate path according to the initial path and the target obstacle area;

[0023] Based on the at least one candidate path, determining a lunar rover global path cost of the candidate path from a starting point to an end point;

[0024] Based on the rover global path cost, a rover global path from the starting point to the end point is determined.

[0025] According to a lunar rover global path planning method provided by the present invention, the cost function of the lunar rover global path is expressed by formula (1):

[0026] f(n)=α*(g(n)+h(n))+β*X(n)+γ*Y(n)+δ*Z(n) (1)

[0027] Among them, g(n) represents the cost of the distance between position point n and the starting point in the global path of the lunar rover, that is, the distance from the starting point to position point n; h(n) represents the cost of the distance between position point n and the end point, that is, the distance from position point n to the end point; X(n) represents the cost of the target obstacle area; Y(n) represents the cost between the global path of the lunar rover and the initial path; Z(n) represents the curvature cost of the global path of the lunar rover; α, β, γ, and δ represent weights.

[0028] The present invention also provides a lunar rover global path planning device, comprising:

[0029] A generation module is used to generate an initial path from the starting point to the end point based on the digital elevation model DEM data and terrain information of the area to be detected;

[0030] A first determination module is used to determine a target obstacle area according to feature information of a candidate obstacle area in a digital orthophoto map DOM of the area to be detected; wherein the candidate obstacle area includes impact craters and / or grooves;

[0031] The second determination module is used to determine the global path of the lunar rover from the starting point to the end point according to the initial path and the target obstacle area.

[0032] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps of any one of the above-mentioned lunar rover global path planning methods are implemented.

[0033] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of any of the above-described lunar rover global path planning methods.

[0034] The present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements the steps of any of the above-mentioned lunar rover global path planning methods.

[0035] The lunar rover global path planning method provided by the present invention generates an initial path from a starting point to an end point through DEM data and terrain information of the area to be detected, and then determines a target obstacle area in the area to be detected according to feature information of a candidate obstacle area in the DOM of the area to be detected; the global path of the lunar rover from the starting point to the end point is determined through the initial path and the target obstacle area, and a hierarchical path planning method is adopted to realize barrier-free driving of the lunar rover on the lunar surface, solve the problem that it is difficult to obtain a high-resolution DEM on the lunar surface, ensure the safety of the lunar rover driving on the lunar surface, and improve the rationality of the global planning path of the lunar rover. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 This is one of the flow charts of the lunar rover global path planning method provided by the present invention;

[0038] Figure 2 This is the second flow chart of the global path planning method for the lunar rover provided by the present invention;

[0039] Figure 3 This is the third flow chart of the global path planning method for the lunar rover provided by the present invention;

[0040] Figure 4 This is the fourth flow chart of the lunar rover global path planning method provided by the present invention;

[0041] Figure 5This is the fifth flow chart of the global path planning method for the lunar rover provided by the present invention;

[0042] Figure 6 This is the sixth flow chart of the global path planning method for the lunar rover provided by the present invention;

[0043] Figure 7 It is a structural schematic diagram of the lunar rover global path planning device provided by the present invention;

[0044] Figure 8 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] Combine the following Figure 1-Figure 6 The present invention describes the lunar rover global path planning method.

[0047] Figure 1 This is one of the flow charts of the lunar rover global path planning method provided by the present invention. Figure 1 As shown, the method includes:

[0048] Step 110, generating an initial path from the starting point to the end point according to the digital elevation model DEM data and terrain information of the area to be detected.

[0049] Optionally, the lunar rover global path planning method provided by the present invention can be applied to the lunar rover global path planning scenario during lunar exploration. The execution subject of the lunar rover global path planning method provided by the present invention can be the lunar rover global path planning method device provided by the present invention, such as an electronic device, or a control module for executing the lunar rover global path planning method in the lunar rover global path planning device.

[0050] Optionally, the area to be explored represents the area that the lunar rover can reach when exploring the lunar surface; the DEM data represents the elevation value of each position point in the area to be explored, which is usually generated by lidar data or by a stereo image; the terrain information represents information such as the slope of the area to be explored.

[0051] Optionally, the initial path represents a path with the minimum driving cost from a starting point to an end point when the lunar rover explores the lunar surface.

[0052] Step 120, determining the target obstacle area according to the characteristic information of the candidate obstacle area in the digital orthophoto map DOM of the area to be detected; wherein the candidate obstacle area includes impact craters and / or grooves.

[0053] Optionally, the candidate obstacle area represents an area in the area to be explored that the lunar rover cannot pass through, including impact craters and / or grooves; the target obstacle area represents a candidate obstacle area in the generated initial path that the lunar rover cannot pass through.

[0054] It should be noted that high-resolution digital orthophoto maps (DOM) are images that are obtained by digitally differentially correcting and mosaicking aerial or aerospace photographs and cropping them within a certain map range. They have both map geometric accuracy and image characteristics. Currently, there are DOMs with a resolution of up to 0.5m that cover the entire moon.

[0055] Step 130, determining a global path of the lunar rover from the starting point to the end point based on the initial path and the target obstacle area.

[0056] Optionally, the lunar rover global path represents a safe path that can avoid target obstacle areas and has the lowest driving cost when the lunar rover explores the lunar surface.

[0057] The lunar rover global path planning method provided by the present invention generates an initial path from a starting point to an end point through DEM data and terrain information of the area to be detected, and then determines a target obstacle area in the area to be detected according to feature information of a candidate obstacle area in the DOM of the area to be detected; the global path of the lunar rover from the starting point to the end point is determined through the initial path and the target obstacle area, and a hierarchical path planning method is adopted to realize obstacle-free driving of the lunar rover on the lunar surface, solve the problem that it is difficult to obtain a high-resolution DEM on the lunar surface, ensure the safety of the lunar rover driving on the lunar surface, and improve the rationality of the global planning path of the lunar rover.

[0058] Figure 2 FIG. 2 is a flow chart of the global path planning method for the lunar rover provided by the present invention. Figure 2 As shown, the method includes:

[0059] Step 210: Determine the first cost of each position point in the area to be detected based on the DEM data and terrain information of the area to be detected.

[0060] Optionally, the terrain information represents the slope of each location point in the area to be detected.

[0061] Specifically, the elevation change rate of any position point in the x direction in the detection area is f x , the rate of change of elevation in the y direction is f y, then the slope β of any position point can be expressed using formula (2):

[0062]

[0063] Among them, f x With f y The calculation method of can be calculated using the third-order inverse distance square weighted difference method, and the calculation method can be obtained by formula (3) and formula (4):

[0064] f x =(Z7-Z1+2(Z8-Z2)+Z9-Z3) / 8g (3)

[0065] f y =(Z3-Z1+2(Z6-Z4)+Z9-Z7) / 8g (4)

[0066] Among them, Z i They represent the elevation values ​​of each point in the 3×3 neighborhood of any point in the DEM, and g represents the grid resolution of the DEM.

[0067] Optionally, based on the calculated slope of each position point, the size of the obstacle that the rover cannot pass is determined based on the slope and mechanical structures such as the size of the rover's wheels, and the threshold range of the slope is determined, thereby determining the first cost of each position point.

[0068] For example, a slope of less than 8° means that the lunar rover can pass freely; a slope of more than 8° and less than 20° means that the lunar rover is not allowed to pass as much as possible; a slope of more than 20° means that the lunar rover is absolutely not allowed to pass. According to the slope threshold setting rule, the slopes of each location point in the area to be detected are reclassified into three categories: slope <8°, slope between 8° and 20°, and slope >20°.

[0069] Optionally, by reclassifying the slope of each location point in the detection area, the first cost of the grid cell corresponding to each location point can be determined; for example, the first cost of the grid cell corresponding to a slope greater than 20° is set as an obstacle, indicating that the lunar rover cannot pass through and does not participate in the calculation; the first cost of the grid pixel with a slope between 8° and 20° is set to 10, and the first cost of the grid cell with a slope less than 8° is set to 1.

[0070] Step 220: Generate an initial path from the starting point to the end point according to the first cost of each position point in the area to be detected.

[0071] Step 230, determining the target obstacle area according to the characteristic information of the candidate obstacle area in the DOM of the area to be detected; wherein the candidate obstacle area includes impact craters and / or grooves.

[0072] Step 240, determining the global path of the lunar rover from the starting point to the end point based on the initial path and the target obstacle area.

[0073] Optionally, the description and explanation of steps 230-240 may refer to the above description and explanation of steps 120-130, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0074] The global path planning method for a lunar rover provided by the present invention determines the first cost of each position point in the to-be-detected area through DEM data and terrain information of the to-be-detected area; generates an initial path from a starting point to an end point according to the first cost of each position point; and determines a target obstacle area in the to-be-detected area according to feature information of a candidate obstacle area in a DOM of the to-be-detected area; determines the global path of the lunar rover from the starting point to the end point through the initial path and the target obstacle area, and adopts a hierarchical path planning method to realize barrier-free driving of the lunar rover on the lunar surface, solves the problem that it is difficult to obtain a high-resolution DEM on the lunar surface, ensures the safety of the lunar rover driving on the lunar surface, and improves the rationality of the global planning path of the lunar rover.

[0075] Figure 3 FIG. 3 is a flow chart of the global path planning method for the lunar rover provided by the present invention. Figure 3 As shown, the method includes:

[0076] Step 310: Determine the first cost of each position point in the area to be detected based on the DEM data and terrain information of the area to be detected.

[0077] Optionally, the description and explanation of step 310 may refer to the above description and explanation of step 210, and the same technical effect can be achieved. To avoid repetition, they will not be repeated here.

[0078] Step 320: Determine the difference between the first costs of any two adjacent points in the area to be detected based on the first costs of the points in the area to be detected.

[0079] Specifically, the grid path P is an ordered sequence of adjacent grid cells, which is expressed by formula (5):

[0080] P = {p i},i=0,1,2,…n (5)

[0081] where p i represents the i-th grid cell in the grid, p0 represents the starting point, p n Indicates the end point.

[0082] Optionally, based on the first cost of the grid cell, the difference C of the first cost between any two adjacent position points can be determined: i, expressed using formula (6):

[0083] C i =|p i -p i+1 | k (6)

[0084] Among them, p i represents the first cost of the i-th grid cell in the grid, p i+1 represents the first cost of the i+1th grid cell in the grid, where k is a positive integer.

[0085] Step 330: Determine at least one initial path cost according to the difference of the first cost.

[0086] Specifically, the path cost D j represents the cost accumulation of the grid path composed of grid cells between the starting point and the end point, that is,

[0087]

[0088] Among them, C i It is the neighbor cost between any adjacent grid cells in the grid path, that is, the difference between the first costs of any two adjacent location points.

[0089] Optionally, at least one initial path cost from the starting point to the end point can be determined according to formula (7).

[0090] Step 340 , generating an initial path from the starting point to the end point based on the initial path cost.

[0091] Optionally, the grid path corresponding to the minimum value of the path cost is the initial path from the starting point to the end point.

[0092] Specifically, the path cost P * The corresponding grid path is the starting point p0 and the end point p n A grid path corresponding to the minimum path cost between is expressed by formula (8):

[0093]

[0094] Among them, m is the starting point p0 and the end point p n The number of raster paths between.

[0095] The specific operation method is:

[0096] 1) Define two sets: set S and set U. Initially, set S only contains the starting point s; set U contains other locations except s, and the cost of each location point in set U is "the cost from the starting point s to the current location point". For example, the cost of the current location point v in set U is C(s,v)=|pv -p s | 2 , where p s represents the cost of the starting point s, p v Represents the cost of the current position point v; if s and v are not adjacent, the cost of v is ∞.

[0097] 2) Select the "location point k with the lowest cost" from set U and add location point k to set S; at the same time, remove location point k from set U.

[0098] 3) Update the cost from each location point in set U to the starting point s. Since location point k is determined to be the location point with the minimum cost in step 2), and location point k is removed from set U, the cost of the remaining location points in set U is updated;

[0099] 4) Repeat steps 2) and 3) until all the position points are traversed. Then the path composed of the position points in the set S is the shortest path, that is, the initial path from the starting point to the end point.

[0100] Step 350, determining the target obstacle area according to the characteristic information of the candidate obstacle area in the digital orthophoto map DOM of the area to be detected; wherein the candidate obstacle area includes impact craters and / or grooves.

[0101] Step 360, determining the global path of the lunar rover from the starting point to the end point based on the initial path and the target obstacle area.

[0102] Optionally, the description and explanation of steps 350-360 may refer to the above description and explanation of steps 120-130, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0103] The global path planning method for a lunar rover provided by the present invention determines the first cost of each position point in the to-be-detected area through DEM data and terrain information of the to-be-detected area; determines the difference of the first cost between any two adjacent position points according to the first cost of each position point, thereby determining at least one initial path cost, and selects an initial path corresponding to the minimum value of at least one initial path cost as the initial path from the starting point to the end point; then determines the target obstacle area in the to-be-detected area according to the feature information of the candidate obstacle area in the DOM of the to-be-detected area; determines the global path of the lunar rover from the starting point to the end point through the initial path and the target obstacle area, and adopts a hierarchical path planning method to realize barrier-free driving of the lunar rover on the lunar surface, solves the problem that it is difficult to obtain a high-resolution DEM on the lunar surface, ensures the safety of the lunar rover driving on the lunar surface, and improves the rationality of the global planning path of the lunar rover.

[0104] Figure 4FIG. 4 is a flow chart of the global path planning method for the lunar rover provided by the present invention. Figure 4 As shown, the method includes:

[0105] Step 410, generating an initial path from the starting point to the end point according to the DEM data and terrain information of the area to be detected.

[0106] Optionally, the description and explanation of step 410 may refer to the above description and explanation of step 110, and the same technical effect can be achieved. To avoid repetition, they will not be repeated here.

[0107] Step 420, when the candidate obstacle area is a crater and the characteristic information is the depth-to-diameter ratio, based on the characteristic information of the candidate obstacle area in the DOM of the area to be detected, the candidate obstacle area in which the depth-to-diameter ratio of the crater in the candidate obstacle area is greater than the first target threshold is determined as the target obstacle area; and / or, when the candidate obstacle area is a groove and the characteristic information is the width, based on the characteristic information of the candidate obstacle area in the DOM of the area to be detected, the candidate obstacle area in which the width ratio of the groove in the candidate obstacle area is greater than the second target threshold is determined as the target obstacle area.

[0108] It should be noted that the present invention uses high-resolution DOM, and adopts manual selection or machine learning to extract impact craters and grooves in the DOM; for impact craters, it is necessary to determine whether the impact crater is a fresh impact crater, which can be determined by the sharpness of the crater edge and the splashes around the impact crater, such as radiation patterns and gravel; if the impact crater is determined to be a fresh impact crater, the impact crater is used as a candidate target obstacle area.

[0109] Optionally, the characteristic information includes: depth-to-diameter ratio and / or width; wherein the depth-to-diameter ratio refers to the ratio of the depth of the impact crater to the diameter of the impact crater, that is, r=d / l, d represents the depth of the impact crater, and l represents the diameter of the impact crater; the width refers to the width of the groove. According to the DEM data of the area to be detected, the elevation value at the center of the impact crater corresponds to the depth of the impact crater; the diameter of the impact crater and the width of the groove in the area to be detected on the lunar surface are obtained by manual measurement or other methods through the DOM of the area to be detected, and then the actual diameter of the impact crater and the width of the groove in the area to be detected on the lunar surface are obtained through the resolution of the DOM.

[0110] Optionally, when the candidate obstacle area is an impact crater and the characteristic information is the depth-to-diameter ratio of the impact crater, the candidate obstacle area whose depth-to-diameter ratio of the impact crater in the candidate obstacle area is greater than the first target threshold is determined as the target obstacle area according to the characteristic information of the candidate obstacle area in the DOM of the area to be detected; wherein the first target threshold is set according to the mechanical structure such as the wheel size of the lunar rover. For example, the first target threshold is set to 0.07, that is, when the depth-to-diameter ratio of the impact crater is r<0.07, the lunar rover can pass through at will; if the depth-to-diameter ratio is 0.07<r<0.18, the lunar rover is not allowed to pass through as much as possible; if the depth-to-diameter ratio is r>0.18, the lunar rover is absolutely not allowed to pass through. Therefore, when the depth-to-diameter ratio of the impact crater is greater than 0.07, the impact crater can be used as a target obstacle area. For 0.07<r<0.18, it is necessary to plan according to the actual situation on the lunar surface.

[0111] Optionally, when the candidate obstacle region is a groove and the characteristic information is the width of the groove, according to the characteristic information of the candidate obstacle region in the DOM of the area to be detected, the candidate obstacle region whose groove width ratio is greater than the second target threshold in the candidate obstacle region is determined as the target obstacle region; wherein the second target threshold is set according to the wheel diameter of the lunar rover. For example, if the width of the groove is greater than 0.5m, the groove is set as the target obstacle region, that is, the lunar rover cannot pass through.

[0112] Step 430, determining the global path of the lunar rover from the starting point to the end point based on the initial path and the target obstacle area.

[0113] Optionally, the description and explanation of step 430 may refer to the above description and explanation of step 130, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0114] The lunar rover global path planning method provided by the present invention generates an initial path from a starting point to an end point through DEM data and terrain information of a to-be-detected area, and then determines a target obstacle area in the to-be-detected area according to candidate obstacle areas with an aspect ratio of the crater greater than a first target threshold and candidate obstacle areas with a groove width greater than a second target threshold, based on the candidate obstacle areas in the DOM of the to-be-detected area being impact craters and / or grooves and the characteristic information being the aspect ratio of the impact craters and / or the groove width; determines a global path of the lunar rover from the starting point to the end point through the initial path and the target obstacle area, and adopts a hierarchical path planning method to realize barrier-free driving of the lunar rover on the lunar surface, solves the problem that it is difficult to obtain a high-resolution DEM on the lunar surface, ensures the driving safety of the lunar rover on the lunar surface, and improves the rationality of the global planning path of the lunar rover.

[0115] Figure 5 FIG. 5 is a flow chart of the global path planning method for the lunar rover provided by the present invention. Figure 5 As shown, the method includes:

[0116] Step 510: Generate an initial path from the starting point to the end point based on the DEM data and terrain information of the area to be detected.

[0117] Step 520, determining the target obstacle area according to the characteristic information of the candidate obstacle area in the DOM of the area to be detected; wherein the candidate obstacle area includes impact craters and / or grooves.

[0118] Optionally, the description and explanation of steps 510-520 may refer to the above description and explanation of steps 110-120, and the same technical effect can be achieved. To avoid repetition, they are not repeated here.

[0119] Step 530: Determine at least one candidate path according to the initial path and the target obstacle area.

[0120] It should be noted that, according to the specific position of the target obstacle area in the area to be detected, and in the planned initial path, the position point where the target obstacle area is located is the position point in the initial path, then the position point where the target obstacle area is located is used as the obstacle position point.

[0121] Optionally, when replanning the initial path based on the initial path and the target obstacle area, starting from the starting point of the initial path, if the next position point of the current position point is in the target obstacle area, the next position point is not considered, and only the sum of the distances from the position points around the current position point that are not in the target obstacle area to the starting point and the distances from the position points that are not in the target obstacle area to the end point are considered. There will be multiple position points with the smallest sum of distances, and then candidate paths are determined based on these position points, so that at least one candidate path can be determined. Therefore, multiple candidate paths can be planned based on the initial path and the target obstacle area.

[0122] When the target obstacle area in the initial path is a crater or groove, the location and number of the craters and grooves need to be considered. When there are a large number of craters and grooves and they are far away, the number of candidate paths to be planned will be larger and more complex.

[0123] Step 540, based on at least one candidate path, determine the lunar rover global path cost of the candidate path from the starting point to the end point.

[0124] Optionally, the global path cost refers to the path cost of the optimized path of the lunar rover from the starting point to the end point, avoiding the target obstacle area; the path cost is not only the distance cost from the starting point to the end point, but also includes the cost of the target obstacle area, the distance cost between the candidate path and the initial path at each position point, and the curvature cost of the candidate path; a corresponding weight value is set for each cost.

[0125] Optionally, based on at least one candidate path, the path cost of the optimized path of each candidate path from the starting point to the end point is calculated, that is, the global path cost of the lunar rover from the starting point to the end point of each candidate path is determined.

[0126] Step 550, based on the rover global path cost, determine the rover global path from the starting point to the end point.

[0127] Optionally, according to the rover global path cost of each candidate path from the starting point to the end point, the candidate path with the smallest rover global path cost is selected as the rover global path, thereby determining the rover global path from the starting point to the end point.

[0128] The lunar rover global path planning method provided by the present invention uses an initial path and a target obstacle area, based on the target obstacle area in the initial path, so that the position points in the initial path bypass the position points where the target obstacle area is located, thereby determining at least one candidate path from a starting point to an end point, calculating the lunar rover global path cost of each candidate path, selecting the candidate path with the smallest lunar rover global path cost as the lunar rover global path, thereby determining the lunar rover global path from the starting point to the end point, and adopting a hierarchical path planning method to achieve barrier-free driving of the lunar rover on the lunar surface, solve the problem of difficulty in obtaining a high-resolution DEM on the lunar surface, ensure the driving safety of the lunar rover on the lunar surface, and improve the rationality of the lunar rover's global planning path.

[0129] Optionally, the cost function of the lunar rover global path is expressed by formula (1):

[0130] f(n)=α*(g(n)+h(n))+β*X(n)+γ*Y(n)+δ*Z(n) (1)

[0131] Among them, g(n) represents the cost of the distance between position point n and the starting point in the global path of the lunar rover, that is, the distance from the starting point to position point n; h(n) represents the cost of the distance between position point n and the end point, that is, the distance from position point n to the end point; X(n) represents the cost of the target obstacle area; Y(n) represents the cost between the global path of the lunar rover and the initial path; Z(n) represents the curvature cost of the global path of the lunar rover; α, β, γ, and δ represent weights, which can be set according to actual needs.

[0132] It should be noted that g(n), h(n), X(n), Y(n) and Z(n) can be calculated by the following formulas (9) to (13):

[0133]

[0134]

[0135]

[0136]

[0137]

[0138] where x n Indicates the horizontal coordinate of position point n, x S Indicates the horizontal coordinate of the starting point S; y n The ordinate of position point n, y S Indicates the ordinate of the starting point S; x G Indicates the horizontal coordinate of the end point G, y G represents the ordinate of the end point G; {p O} represents the location point set of the target obstacle area; n' represents the location point on the initial path closest to location point n; Δα represents the angle, and Δs represents the arc length.

[0139] Specifically, when the initial path is optimized according to the initial path and the target obstacle area, the total cost from the position point to the starting point and from the position point to the end point can be obtained according to formula (1) and formula (9)-formula (13); when the total cost of each determined position point is the smallest, the total cost of the lunar rover's global path is also the smallest.

[0140] The calculation method of Y(n) is as follows: starting from the starting point of the initial path, the distance between the mth position point in the optimized path and the current position point n of the initial path is calculated as the value of Y(n):

[0141]

[0142] Calculate the distance Y'(n) between the m+1th position point in the optimized path and the current position point in the initial path:

[0143]

[0144] If Y'(n)<Y(n), then Y(n)=Y'(n); if Y'(n)>Y(n), Y(n) is unchanged until the end of the initial path is traversed.

[0145] The calculation of Z(n) needs to consider the coordinates (x n ,y n ), the coordinates of the parent point np of the current point (x np ,y np ), and the coordinates (x npp ,y npp ), and the curvature Z(n) is calculated based on these three points; the calculation method of Z(n) is:

[0146] When backtracking the optimized path, if there are less than two preceding positions of the current position, Z(n)=0; otherwise, it is obtained according to the following formula:

[0147]

[0148]

[0149]

[0150]

[0151]

[0152] a=M\x (21)

[0153] b=M\y (22)

[0154] Z(n)=2*(a31*b21-b31*a21) / (a21 2 +b21 2 ) 1.5 (twenty three)

[0155] Among them, t_a, t_b, M, a, and b in formula (18)-formula (23) are intermediate variables.

[0156] Next, the weighted A* algorithm used in the lunar rover global path planning method provided by the present invention is described:

[0157] First, two sets are set to divide the position points in the area to be detected into position points to be traversed and position points that have been traversed, wherein the set corresponding to the position points to be traversed is open_set, and the set corresponding to the position points that have been traversed is close_set.

[0158] Secondly, initialize the set open_set corresponding to the position points to be traversed and the set close_set corresponding to the position points that have been traversed.

[0159] Again, according to the pre-set starting point and end point, the location point corresponding to the starting point is added to the set open_set.

[0160] Next, if the set open_set is not empty, select the position n with the minimum f(n) obtained by formula (1) from open_set:

[0161] If position point n is not the end point, position point n is deleted from the set open_set and added to the set close_set; then, all neighboring position points m in the neighborhood of position point n are traversed. It should be noted that the neighborhood of position point n generally selects position points within a 3*3 neighborhood; among them, if the neighboring position point m is in the set close_set or a position point in the target obstacle area, the neighboring position point is skipped and the next neighboring position point is selected; if the neighboring position point m is not in the set open_set, the parent node of position point m is set to position point n, the f(n) value of position point m is calculated, and position point m is added to the set open_set.

[0162] If position point n is the end point, search the parent position points of each position point in reverse from the end point until the starting point is found.

[0163] Finally, based on the searched path from the starting point to the end point, the minimum cost path is returned, that is, the global path of the lunar rover from the starting point to the end point is determined.

[0164] Figure 6 FIG6 is a flow chart of the global path planning method for the lunar rover provided by the present invention, as shown in FIG6 Figure 6 As shown, the method includes:

[0165] Step 601, calculating the slope of each position point in the area to be detected based on the low-resolution DEM data of the area to be detected.

[0166] Specifically, the slope β of each position point in the area to be detected can be expressed using formula (2):

[0167]

[0168] Among them, f x Indicates that the elevation change rate of any position point in the x direction is f x , f y Indicates the rate of change of elevation of any point in the y direction; f x With f y The calculation method of can be calculated using the third-order inverse distance square weighted difference method, and the calculation method can be obtained by formula (3) and formula (4):

[0169] f x =(Z7-Z1+2(Z8-Z2)+Z9-Z3) / 8g (3)

[0170] f y =(Z3-Z1+2(Z6-Z4)+Z9-Z7) / 8g (4)

[0171] Among them, Zi They represent the elevation values ​​of each point in the 3×3 neighborhood of any point in the DEM, and g represents the grid resolution of the DEM.

[0172] Step 602, reclassify the slope. Determine the threshold range of the slope based on the calculated slopes of each location point in the area to be detected and the size of the lunar rover's wheels; a slope less than 8° indicates that the lunar rover can pass through at will; a slope greater than 8° and less than 20° indicates that the lunar rover is not allowed to pass through as much as possible; a slope greater than 20° indicates that the lunar rover is absolutely not allowed to pass through. According to the slope threshold setting rules, the slopes of each location point in the area to be detected are reclassified into three categories: slope <8°, slope between 8° and 20°, and slope >20°.

[0173] Step 603, determine the first cost of each position point in the area to be detected. According to the result of slope reclassification, the first cost of the grid cell corresponding to the slope greater than 20° is set as an obstacle, indicating that the lunar rover cannot pass through and does not participate in the calculation; the first cost of the grid cell with a slope between 8° and 20° is set to 10, and the first cost of the grid cell with a slope less than 8° is set to 1.

[0174] Step 604: Calculate the first cost difference between any adjacent position points. Calculate the first cost difference between any two adjacent position points based on the first cost of each position point in the area to be detected.

[0175] Specifically, the difference C of the first cost between any two adjacent positions i , expressed using formula (6):

[0176] C i =|p i -p i+1 | k (6)

[0177] Among them, p i represents the first cost of the i-th grid cell in the grid, p i+1 represents the first cost of the i+1th grid cell in the grid, where k is a positive integer.

[0178] Step 605, generating an initial path. Based on the first cost difference between any two adjacent position points, an initial path cost from the starting point to the end point is generated, and based on the initial path cost, a path with the minimum initial path cost from the starting point to the end point is determined, thereby generating an initial path from the starting point to the end point.

[0179] Specifically, the path cost D j represents the cost accumulation of the grid path composed of grid cells between the starting point and the end point, that is,

[0180]

[0181] Among them, C i It is the neighbor cost between any adjacent grid cells in the grid path, that is, the difference between the first costs of any two adjacent location points.

[0182] Path cost P * The corresponding grid path is the starting point p0 and the end point p n A grid path corresponding to the minimum path cost between is expressed by formula (8):

[0183]

[0184] Among them, m is the starting point p0 and the end point p n The number of grid paths between. According to the path cost P * , the grid path corresponding to the minimum path cost is the initial path.

[0185] Step 606: Extract candidate obstacle regions according to the DOM of the area to be detected. Extract candidate obstacle regions according to the DOM of the area to be detected by manual or machine learning methods.

[0186] Step 607, determining the target obstacle area. According to the candidate obstacle areas and the initial path, the candidate obstacle areas in the initial path are determined as the target obstacle areas, thereby determining the target obstacle area.

[0187] Step 608, based on the initial path and the target obstacle area, use the weighted A* algorithm to determine the global path of the lunar rover from the starting point to the end point.

[0188] Specifically, using the weighted A* algorithm, starting from the starting point of the initial path, the sum of the distances from each location point to the starting point and from each location point to the end point in the neighborhood of the starting point is calculated, and the location point with the smallest sum of distances is found as the next location point of the starting point; it should be noted that if the location point in the neighborhood of the starting point is a location point in the target obstacle area, the location point in the neighborhood is skipped, and the location point in the non-target obstacle area is selected. Next, the sum of the distances from each location point in the neighborhood of the next location point of the starting point to the starting point and from each location point to the end point is calculated, and the location point with the smallest sum of distances is found as the next location point of the next location point. Similarly, if the location point in the neighborhood of the next location point is a location point in the target obstacle area, the location point in the neighborhood is skipped, and the location point in the non-target obstacle area is selected; and so on, until the end point is found. If the location point finds the end point, the parent location point of each location point is searched reversely from the end point until the reverse search reaches the starting point; according to the searched path from the starting point to the end point, the total cost of the path is calculated using formula (1), and the path with the minimum total cost is the global path of the lunar rover from the starting point to the end point.

[0189] It should be noted that the neighborhood range can be a 3*3 neighborhood or other neighborhood ranges; if a location point within the neighborhood range of a location point belongs to a location point within the target obstacle area, this location point will not be considered, and only location points that are not within the target obstacle area will be considered, so as to avoid the target obstacle area.

[0190] The lunar rover global path planning device provided by the present invention is described below. The lunar rover global path planning device described below and the lunar rover global path planning method described above can be referenced to each other.

[0191] Figure 7 The schematic diagram of the structure of the global path planning device for the lunar rover provided by the present invention is as follows: Figure 7 As shown, the lunar rover global path planning device 700 includes: a generation module 701, a first determination module 702, and a second determination module 703; wherein,

[0192] A generation module 701 is used to generate an initial path from a starting point to an end point according to the digital elevation model DEM data and terrain information of the area to be detected;

[0193] The first determination module 702 is used to determine the target obstacle area according to the characteristic information of the candidate obstacle area in the digital orthophoto map DOM of the area to be detected; wherein the candidate obstacle area includes impact craters and / or grooves;

[0194] The second determination module 703 is used to determine the global path of the lunar rover from the starting point to the end point according to the initial path and the target obstacle area.

[0195] The lunar rover global path planning device provided by the present invention generates an initial path from a starting point to an end point through DEM data and terrain information of the area to be detected, and then determines a target obstacle area in the area to be detected according to feature information of a candidate obstacle area in the DOM of the area to be detected; the global path of the lunar rover from the starting point to the end point is determined through the initial path and the target obstacle area, and a hierarchical path planning method is adopted to realize obstacle-free driving of the lunar rover on the lunar surface, solve the problem that it is difficult to obtain a high-resolution DEM on the lunar surface, ensure the safety of the lunar rover driving on the lunar surface, and thus improve the rationality of the global planning path of the lunar rover.

[0196] Optionally, the generating module 701 is specifically used for:

[0197] Determine the first cost of each position point in the area to be detected based on the DEM data and terrain information of the area to be detected;

[0198] An initial path from the starting point to the end point is generated according to the first cost of each position point in the area to be detected.

[0199] Optionally, the generating module 701 is specifically used for:

[0200] Determine the difference between the first costs of any two adjacent points in the area to be detected according to the first costs of each point in the area to be detected;

[0201] determining at least one initial path cost based on the difference in the first cost;

[0202] Generates an initial path from the start point to the end point based on the initial path cost.

[0203] Optionally, the characteristic information includes: aspect ratio and / or width; the first determination module 702 is specifically configured to:

[0204] When the candidate obstacle area is an impact crater and the characteristic information is the depth-to-diameter ratio, according to the characteristic information of the candidate obstacle area in the DOM of the area to be detected, the candidate obstacle area in which the depth-to-diameter ratio of the impact crater in the candidate obstacle area is greater than the first target threshold is determined as the target obstacle area; and / or,

[0205] When the candidate obstacle area is a groove and the characteristic information is width, according to the characteristic information of the candidate obstacle area in the DOM of the area to be detected, the candidate obstacle area whose groove width ratio is greater than the second target threshold is determined as the target obstacle area.

[0206] Optionally, the second determining module 703 is specifically configured to:

[0207] Determine at least one candidate path according to the initial path and the target obstacle area;

[0208] Based on at least one candidate path, determining a rover global path cost of the candidate path from a starting point to an end point;

[0209] Based on the rover's global path cost, determine the rover's global path from the start point to the end point.

[0210] Optionally, the cost function of the lunar rover global path is expressed by formula (1):

[0211] f(n)=α*(g(n)+h(n))+β*X(n)+γ*Y(n)+δ*Z(n) (1)

[0212] Among them, g(n) represents the cost of the distance between position point n and the starting point in the global path of the lunar rover, that is, the distance from the starting point to position point n; h(n) represents the cost of the distance between position point n and the end point, that is, the distance from position point n to the end point; X(n) represents the cost of the target obstacle area; Y(n) represents the cost between the global path of the lunar rover and the initial path; Z(n) represents the curvature cost of the global path of the lunar rover; α, β, γ, and δ represent weights.

[0213] Figure 8 is a schematic diagram of the physical structure of the electronic device provided by the present invention, such as Figure 8 As shown, the electronic device 800 may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call the logic instructions in the memory 830 to execute the lunar rover global path planning method, which includes: generating an initial path from the starting point to the end point according to the digital elevation model DEM data and terrain information of the area to be detected; determining the target obstacle area according to the feature information of the candidate obstacle area in the digital orthophoto map DOM of the area to be detected; wherein the selected obstacle area includes impact craters and / or grooves; determining the lunar rover global path from the starting point to the end point according to the initial path and the target obstacle area.

[0214] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0215] On the other hand, the present invention also provides a computer program product, which includes a computer program. The computer program can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the lunar rover global path planning method provided by the above methods, which includes: generating an initial path from a starting point to an end point based on digital elevation model DEM data and terrain information of the area to be explored; determining a target obstacle area based on feature information of a candidate obstacle area in a digital orthophoto map DOM of the area to be explored; wherein the selected obstacle area includes craters and / or grooves; and determining a global path of the lunar rover from the starting point to the end point based on the initial path and the target obstacle area.

[0216] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the lunar rover global path planning method provided by the above-mentioned methods, the method comprising: generating an initial path from a starting point to an end point based on digital elevation model DEM data and terrain information of the area to be detected; determining a target obstacle area based on feature information of a candidate obstacle area in a digital orthophoto map DOM of the area to be detected; wherein the selected obstacle area includes impact craters and / or grooves; determining the global path of the lunar rover from the starting point to the end point based on the initial path and the target obstacle area.

[0217] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0218] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0219] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A lunar rover global path planning method, characterized in that: include: Generate an initial path from the starting point to the end point based on the digital elevation model (DEM) data and terrain information of the area to be detected; Determine the target obstacle area according to the characteristic information of the candidate obstacle area in the digital orthophoto map DOM of the area to be detected; wherein the candidate obstacle area includes impact craters and / or grooves; Determining a global path of the lunar rover from the starting point to the end point according to the initial path and the target obstacle area; The characteristic information includes: aspect ratio and / or width; The step of determining the target obstacle area according to the feature information of the candidate obstacle area in the digital orthophoto map DOM of the area to be detected includes: In the case where the candidate obstacle area is an impact crater and the characteristic information is a depth-to-diameter ratio, according to the characteristic information of the candidate obstacle area in the DOM of the area to be detected, a candidate obstacle area in which the depth-to-diameter ratio of the impact crater in the candidate obstacle area is greater than a first target threshold is determined as a target obstacle area; and / or, In the case where the candidate obstacle area is a groove and the characteristic information is a width, according to the characteristic information of the candidate obstacle area in the DOM of the area to be detected, a candidate obstacle area whose groove width ratio in the candidate obstacle area is greater than a second target threshold is determined as a target obstacle area; Determining the global path of the lunar rover from the starting point to the end point according to the initial path and the target obstacle area includes: Determine at least one candidate path according to the initial path and the target obstacle area; Based on the at least one candidate path, determining a lunar rover global path cost of the candidate path from a starting point to an end point; Based on the rover global path cost, a rover global path from the starting point to the end point is determined.

2. The lunar rover global path planning method according to claim 1, characterized in that: The method of generating an initial path from a starting point to an end point according to the digital elevation model (DEM) data and terrain information of the area to be detected comprises: Determine the first cost of each position point in the area to be detected according to the DEM data and terrain information of the area to be detected; An initial path from a starting point to an end point is generated according to a first cost of each position point in the area to be detected.

3. The lunar rover global path planning method according to claim 2, characterized in that: The step of generating an initial path from a starting point to an end point according to the first cost of each position point in the area to be detected includes: Determine the difference between the first costs of any two adjacent position points according to the first costs of each position point in the area to be detected; determining at least one initial path cost based on the difference of the first costs; Based on the initial path cost, an initial path from the start point to the end point is generated.

4. The lunar rover global path planning method according to claim 1, characterized in that: The cost function of the lunar rover global path is expressed by formula (1): f(n)=α*(g(n)+h(n))+β*X(n)+γ*Y(n)+δ*Z(n) (1) Among them, g(n) represents the cost of the distance between position point n and the starting point in the global path of the lunar rover, that is, the distance from the starting point to position point n; h(n) represents the cost of the distance between position point n and the end point, that is, the distance from position point n to the end point; X(n) represents the cost of the target obstacle area; Y(n) represents the cost between the global path of the lunar rover and the initial path; Z(n) represents the curvature cost of the global path of the lunar rover; α, β, γ, and δ represent weights.

5. A lunar rover global path planning device, characterized in that: include: A generation module is used to generate an initial path from the starting point to the end point based on the digital elevation model DEM data and terrain information of the area to be detected; A first determination module is used to determine a target obstacle area according to feature information of a candidate obstacle area in a digital orthophoto map DOM of the area to be detected; wherein the candidate obstacle area includes impact craters and / or grooves; A second determination module is used to determine the global path of the lunar rover from the starting point to the end point according to the initial path and the target obstacle area; The characteristic information includes: aspect ratio and / or width; the first determination module is specifically used to: When the candidate obstacle area is an impact crater and the characteristic information is the depth-to-diameter ratio, according to the characteristic information of the candidate obstacle area in the DOM of the area to be detected, the candidate obstacle area in which the depth-to-diameter ratio of the impact crater in the candidate obstacle area is greater than the first target threshold is determined as the target obstacle area; and / or, When the candidate obstacle area is a groove and the characteristic information is the width, according to the characteristic information of the candidate obstacle area in the DOM of the area to be detected, the candidate obstacle area whose groove width ratio in the candidate obstacle area is greater than the second target threshold is determined as the target obstacle area; The second determination module is specifically used for: Determine at least one candidate path according to the initial path and the target obstacle area; Based on at least one candidate path, determining a rover global path cost of the candidate path from a starting point to an end point; Based on the rover's global path cost, determine the rover's global path from the start point to the end point.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the lunar rover global path planning method as described in any one of claims 1 to 4 are implemented.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the lunar rover global path planning method as described in any one of claims 1 to 4 are implemented.

8. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the lunar rover global path planning method as described in any one of claims 1 to 4 are implemented.

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