Construction Of Integrated Simulation Environment Of Lunar Surface And Path Navigation Of Rover

With the rapid development of technology nowadays,people's requirements for science and technology are becoming higher and higher.Many countries,including China,have proposed missions and plans to detect the moon.But after the 12 th Five-Year Plan in China,there has been less and less research on the lunar surface simulation system.With the development of the software Internet industry and the upgrading of intelligent technology,the original lunar surface simulation system can no longer meet today's requirements.Therefore,this article builds a new lunar simulation system under the ROS system for the characteristics of open source,easy maintenance,strong language compatibility,fast update,and non-interference between nodes.It is intended to complete the creation of lunar parametric terrain,the implementation of lunar roaming robot positioning and mapping technology,and path planning technology.The paper divides the overall framework of the lunar surface simulation system into four parts: the terrain construction part,the robot driving part,the robot positioning and mapping part,and the robot path planning part.And start from each part independently,complete the work between each part separately,and then emulate it on the lunar surface simulation system.Firstly,the article builds a lunar parametric simulated terrain based on the Gridmap code base under the ROS system.The parametric topography of the lunar surface is divided into three parts: lunar rock,lunar crater,and lunar terrain.The mathematical models of lunar rock and lunar crater are established for lunar features,respectively,and also for the fractal Brownian motion.The model was briefly analyzed,and the diamond-quadrilateral algorithm was used to build the parameterized terrain on the lunar surface.The influence of different parameters on the simulated terrain on the lunar surface was briefly discussed.Finally,the built model is displayed with Rviz as a visual interface,and further converted into SDF format that can be recognized by Gazebo and other software through the Terrain Generator code base for roaming robot positioning and mapping technology and path planning technology.Secondly,this article describes the principle of the LOAM algorithm,analyzes the advantages and disadvantages of the LOAM algorithm in the construction of three-dimensional maps,and analyzes in detail the laser mileage calculation method,the laser mapping algorithm and its process in the LOAM algorithm.The laser mileage calculation method for feature point extraction,feature point matching and motion estimation module is deduced in detail,and finally the realization of the algorithm iscompleted through the ROS system.And by constructing a three-dimensional point cloud map of the terrain features of the lunar simulated terrain,the feasibility of the algorithm is verified.Finally,this paper completes the principle analysis and demonstration of traditional D* algorithm and adaptive Monte Carlo positioning method,and analyzes the applicability of D* algorithm in the simulation of lunar surface.The combination of the algorithm and the lunar parametric terrain through the gmapping code base under the ROS system proves the feasibility of its algorithm in the lunar surface simulation system.