Navigation Approach For Lunar Rover Based On Slip Prediction

摘要

This paper presented a method for navigation of lunar rover. This method used the real lunar data to model the virtual terrain. In addition, this method not onle considers uncertainty of sensor data, and does integrate directional slip prediction into the path planning algorithm resolving the issue of emerging higher-level behaviors such as planning a path with switch-backs up a slope. Simulation results show the feasibility and effectiveness of the algorithm in path planning for lunar rover.