Global Path Planning of Lunar Rover Under Static and Dynamic Constraints

Abstract

This paper proposes a global path planning for lunar rovers in polar regions under static and dynamic constraints. Prior to lunar mission launch, a specific mission path must be set for a lunar rover. The mission path is generated under uncertain information. Only lunar digital elevation model (DEM) and secondary parameters derived from DEM are available. The parameters can be divided into two categories: static parameters and dynamic parameters. Parameters such as DEM, slope, and roughness can be categorized into static parameters. Illumination and thermal inertia can be categorized into dynamic constraints. This paper introduces such parameters as constraints for path planning, by either giving weight to each parameters or suggesting a threshold for a dead zone. A* path planning method is used to implement such parameters as constraints. Simulations of path planning are shown.