Research On Lunar Rover Path Planning Algorithm Based On Virtual Moon Surface Terrain

With the development of lunar exploration projects and the particularity of the lunar environment,the research of lunar rover path planning is particularly important.Due to the complexity of the lunar surface terrain environment,effective extraction and analysis of lunar surface terrain viscosity coefficients and other terrain factors,based on terrain feature factors for slip prediction.Allow the lunar rover to avoid falling into a dangerous area,hitting an obstacle,or deviating from its intended target.This article studies the environmental problems of the complex terrain moon table.First of all,for the failure problem caused by the complex terrain of lunar rover path planning,this paper proposes a fusion terrain-based slip prediction algorithm to predict the path and avoid the problem of path planning failure caused by the slipping of complex terrain environment.Simulation experiments prove that the slip prediction algorithm can effectively avoid the path planning failure caused by terrain.Secondly,an improved genetic algorithm based on slip prediction is proposed.The predicted slip prediction algorithm is incorporated into the genetic algorithm's path rules to realize the integration of slip prediction and path planning algorithm.Simulation experiments verify that the improved genetic algorithm based on slip prediction has more optimized path planning performance and stronger search performance,and can effectively reduce the risk of lunar rover travel,improve the efficiency of path planning,and shorten the optimal path length.