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Updated: May 10, 2025

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自主任务规划用于行星表面探测,使用一个微型探测器团队

Sarah Swinton¹, Jan-Hendrik Ewers¹, Euan McGookin¹

¹James Watt School of Engineering, University of Glasgow, Glasgow, United Kingdom.

Frontiers in robotics and AI

|April 24, 2025

概括

这项研究引入了一种用于协调自主火星探测器的新方法,以找到高效的探索路线. 该系统确保了安全有效的探测器导航,最大限度地提高了Jezero火山口科学发现的机会.

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:

漫游者自主性对于有效的行星探索至关重要.
杰泽罗火山口为导航和探索带来了独特的挑战.

研究的目的:

开发一种用于协调自主多机器人团队的新方法,以实现高效的勘探.
为了最大限度地确定Jezero火山口的科学兴趣点的概率,火星.

主要方法:

生成3D地形模型,可穿越性分析和兴趣点概率图.
一个三阶段的任务计划器,用于全团队的路线优化.
使用4D RRT*算法和优先规划,以安全,个性化地生成探测器路径.

主要成果:

该方法成功地协调了安全和高效的漫游者路径.
确保漫游者在名义和滚动限制内运行.
最大化识别科学目标的累积概率.

结论:

拟议的协调方法提高了行星探测车的自主性和效率.
这种方法对于最大限度地提高像Jezero火山口这样的任务的科学回报至关重要.
该系统通过维持漫游车的稳定性极限来确保运行安全.

关键词:

自主性自主性自主性协调协调协调协调微型漫游车微型漫游车任务规划任务规划星球探索,行星探索.机器人团队机器人团队

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