The unmanned lunar rover exploration mission is generally carried out in the way of ground tele-operation, in which the ground control center cooperates with the rover uniformly to complete the scientific detection target. The operations team must generate the future plan composed of activities in timelines for rover and each post of the ground control center. Due to the uncertainty of the lunar environment and temporal constraints, the traditional manual mission planning method is no longer adapt to the special demand. This paper proposes an automatic mission planning method for the tele-operation of lunar exploration rovers, which realizes the path planning of navigation points and activities planning at each navigation point. The interior and external constraints of activities are analyzed, and the domain modeling is described by the object-orient planning modeling language. Using the sequential backtracking strategy in the planning database, the planning result meeting various constraints is gradually obtained through conflict resolution, and the scientific exploration goal is completed on the basis of the initial task state. It is verified by experiments that the execution performance of our method meets the mission requirements practically, and the effectiveness of this method is confirmed. This method can be used in other planetary exploration missions such as Mars rover exploration.
Automatic Planning Method of Space-Ground Integrated Tele-Operation for Unmanned Lunar Exploration Rovers
Lect. Notes Electrical Eng.
International Conference on Guidance, Navigation and Control ; 2022 ; Harbin, China August 05, 2022 - August 07, 2022
2023-01-31
12 pages
Article/Chapter (Book)
Electronic Resource
English
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