In order to evaluate the feasibility of planetary exploration missions, it is imperative to construct planetary terrain environments on the ground. Nevertheless, the implementation of this method is characterized by time-consuming and challenging factors. By contrast, resorting to simulation approaches represents a cost-effective and high-efficiency alternative, which can facilitate the simulation validation of planetary rover exploration missions in an effective manner. In this paper, a modular planet rover simulation platform is proposed; by building and overlaying multiple feature layers corresponding to the surface of the planet, we realize the simulation of high-resolution fine terrain and through adjusting the terrain parameters to meet the needs of different simulated terrain. The experimental results show that we have built a scene to satisfy the requirements of visual effects and physically realistic characteristics of simulation. Using an improved PatchMatch stereomethod to recover images captured real time by a planetary rover navigation camera in a virtual environment provided more complete three-dimensional terrain data for subsequent simulation validation of local path planning. Finally, a simulation environment that combines high-fidelity visual effects and kinematic characteristics supports visualizing the simulation platform: we propose a path planning method using global planning combined with local obstacle avoidance, and we obtain the optimal path that satisfies the kinematic constraints.
Vision-Based Virtual Simulation Platform for Planetary Rovers
Journal of Aerospace Information Systems ; 20 , 12 ; 849-858
2023-09-08
10 pages
Article (Journal)
Electronic Resource
English
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