建议在火星上运行火星车的新路径规划指标
Pablo Muñoz1, Paolo Bellutta2, Maria D R-Moreno3,4
1Universidad de Alcalá. EPS. ISG Group, 28871, Alcalá de Henares, Madrid, Spain.
Scientific reports
|December 14, 2023
概括
火星探测器的路径规划使用成本函数,但传统的尺度,如距离可能不够. 这项研究评估了现有的指标,并为挑战火星地形提出了新的指标.
科学领域:
- 行星科学 行星科学
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
背景情况:
- 火星探测器的运行需要复杂的路径规划才能使任务成功.
- 路径规划算法通过基于成本函数生成候选路径来帮助运营商.
- 通常使用的是传统的指标,如行驶距离,解决方案运行时间和扩展节点.
研究的目的:
- 分析传统路径规划指标在具有挑战性的,部分已知的火星地形中的实用性.
- 在真实的火星地图上使用两个路径规划算法审查现有指标.
- 提出新的指标来评估在现实世界火星探测器应用中的路径.
主要方法:
- 审查已建立的路径规划指标.
- 在真实的火星地形数据上应用两个路径规划算法.
- 在复杂环境中对指标性能进行分析.
主要成果:
- 传统的指标可能无法完全捕捉到在未知的火星地形中选择路径的复杂性.
- 评估距离,运行时间和节点扩展指标的有效性.
- 确定当前路径评估方法的局限性.
结论:
- 现有的路径规划指标需要对外星应用进行重新评估.
- 提出了新的指标,以更好地评估火星探测器的路径适用性.
- 加强路径评估对于有效和安全的火星探索至关重要.
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