CN110310369A - A kind of moon back complicated landform passability method of discrimination and system under limited constraint - Google Patents
A kind of moon back complicated landform passability method of discrimination and system under limited constraint Download PDFInfo
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Abstract
The present invention proposes the moon back complicated landform passability method of discrimination and system under a kind of limited constraint.No. 4 rovers of the goddess in the moon carry on the back mobile test platform the first moon as the mankind, execute in the far-side of the moon and make an inspection tour detection mission.The moon the privately more rugged complexity of shape, hole is throughout and execution task is more, brings higher technological challenge and difficulty to detection is maked an inspection tour.The tasks such as its movement, suspend mode, scientific exploration needs are completed under various constraint conditions, these constraint conditions are more stringenter than the goddess in the moon No. 3, including, height threshold, gradient threshold value, maximum curvature, suspend mode point roll angle, pitch angle and yaw angle, solar azimuth, relay satellite orientation, movement speed, avoidance camera participate in terrain analysis etc..This patent proposes the moon back complicated landform passability method of discrimination under a kind of limited constraint, carries out passability differentiation to the guidance path on complicated landform landforms, makes an inspection tour detection for lunar surface and laying the foundation.
Description
Technical field
The present invention relates to moon back complicated landform passability method of discrimination and systems, belong to moon back Path Planning Technique neck
Domain.
Background technique
No. 4 rovers of the goddess in the moon carry out mankind's moon back tour detection mission for the first time, the Mysterious Veil of moon back have been opened, by the moon
Back side topography and geomorphology has been presented in face of the whole mankind, further increases cognition of the mankind to the moon.It is compared to towards the earth
One side, the moon the privately more rugged complexity of shape, hole throughout, and it is more to execute task, to make an inspection tour detection bring it is higher
Technological challenge and difficulty.It carries on the back real terrain by the moon and sees Fig. 1.
Area navigation planning is responsible on the basis of obtaining telemetering engineering value and image data with control subsystem, completes complete
Office's environment sensing carries out navigation elements planning and generates the mobile control strategy of rover.As the important of rover remote operating
Link is maked an inspection tour in detection mission, also facing to the technological challenge severeer by terrain complexity bring, even in the far-side of the moon
Decide that lunar surface makes an inspection tour the success or failure of detection mission to a certain extent.
In a kind of rover area navigation planning control method that No. 3 detection missions of the goddess in the moon are proposed as background, base is given
In the process of the lunar surface navigation elements planning of navigation camera, comprising: Sequential images mosaic, dimensional topography restore, landform can pass through
Property analysis, path planning and shift strategy generate etc..The patent gives the general general step of rover navigation programming, can be with
It gives the process and generates shift strategy.But it carries on the back detection mission the moon, guarantee to patrol to avoid failing to judge and misjudge in face of complicated landform
Visual organ safety, needs the method for discrimination of the path passability in face of complicated landform.
No. 4 rovers of the goddess in the moon are as mobile test platform is carried on the back the first moon, and movement subsystem is using six wheel rocker arm suspension sides
Case has advance and retrogressing, steering, braking and certain obstacle climbing ability.The tasks such as movement, suspend mode, scientific exploration are needed each
It is completed under kind constraint condition, these constraint conditions are more stringenter than the goddess in the moon No. 3, and constraint condition includes height threshold, gradient threshold
Value, maximum curvature, suspend mode point roll angle, pitch angle and yaw angle, solar azimuth, relay satellite orientation, movement speed, avoidance camera
Participate in terrain analysis etc..Need to consider the method for discrimination of a variety of constraints.
Summary of the invention
It is an object of the invention to overcome the above-mentioned deficiency of the prior art, provide under a kind of limited constraint the moon back intricately
Shape passability method of discrimination and system, by analyzing the path generated on dimensional topography, judge path whether
It can pass through under constraint condition, make an inspection tour passability decision problem in detection mission for moon back and lay the foundation.
Above-mentioned purpose of the invention is achieved by following technical solution:
A kind of moon under limited constraint carries on the back complicated landform passability method of discrimination, and steps are as follows:
(1) target position, path, dimensional topography point cloud chart picture are obtained；
(2) topographic constraints, kinematic constraint, pose constraint are established；
(3) judge kinematic constraint；
(4) suitability degree analysis is carried out according to topographic constraints, terrain obstruction is divided into across obstacle, by obstacle, new images
Three classes；
(5) it analyzes respectively across obstacle, by obstacle and new images obstacle, judges passability, to complete limited
Moon back complicated landform passability under constraint differentiates.
The target position refers to the target of this movement of rover, and using vehicle body as origin, in east northeast coordinate system is moved down
The location point of moving-target；Path is existing navigation programming result；Dimensional topography point cloud chart picture is that the three-dimensional of navigation camera image is spelled
Contact cloud landform.
Topographic constraints GPRefer to that features of terrain and rover locomotivity take the constraint mapped in landform into consideration, including
Allow the gradient, maximum allowable height, maximum terrain roughness, is expressed as gathering: GP={ xi| i=1,2,3 }.
Kinematic constraint NPRefer to starting, terminate and in the process motion state limitation, be expressed as NP={ yi| i=1,2,3 },
The motion state limitation includes course constraint, movement velocity constraint and turning radius constraint；
According to position of sun, relay satellite position, whether relay satellite communication blocks and particular task demand determines course about
The allowed band of beam；
Movement velocity constraint refers to the requirement of the movement speed in rover moving process；Turning radius constraint refers to rover
Permission turning radius requirement in moving process.
Pose constrains APRefer to rover position and the Gesture of particular task, including suspend mode point headstock is directed toward, vehicle body
Pitching, vehicle body rolls and rover position, is expressed as AP={ zi| i=1,2,3,4 }.
Judge kinematic constraint specifically:
(3.1) judge whether mobile curvature meets kinematic constraint NPIn turning radius constraint；
(3.2) whether course angle meets kinematic constraint N during judging the movement of rover curvature, pivot turnPIn boat
To constraint；
(3.3) whether analysis rover moving process average movement velocity meets kinematic constraint NPIn movement velocity about
Beam；
(3.4) if there is arbitrarily item is unsatisfactory for, then the path can not pass through.
The step (4) carries out suitability degree analysis according to topographic constraints, and terrain obstruction is divided into across obstacle, by barrier
Hinder, new images three classes, specifically:
(4.1) dimensional topography point cloud chart picture is divided into multiple neighborhoods, and each field is fitted to plane；Fitting is put down
Face equation are as follows: z=Ax+By+C, wherein A, B, C are fitting coefficient；
(4.2) maximum height is the step depth displacement d in neighborhoodstep,
dstep=Hmax-Hmin,
Wherein, HmaxAnd HminMaximum height and depth capacity respectively in neighborhood；
(4.3) gradient is the gradient d of neighborhoodslope=β,
The plane angle of gradient
(4.4) the root mean square characterization of distance of the roughness by point each in neighborhood to fit Plane, is expressed as
Wherein, droughFor roughness, diIndicate the i-th point of distance for arriving fit Plane, n is number a little；
(4.5) according to topographic constraints GP, acquired disturbance information；
(4.6) according to the path and the complaint message, terrain obstruction is divided into across obstacle, by obstacle, new figure
As obstacle three classes.
Refer to obstacle in the paths across obstacle；It is to be less than safe distance outside path domain, apart from path by obstacle
Obstacle, safe distance S=D/2+m, wherein D be rover vehicle width, m be preset security extension distance；
New images obstacle is that information is not complete, needs the obstacle of new image information.
Analysis judges passability across obstacle, specifically:
(1) for stone class obstacle, whether disturbance in judgement height, size meet constraint；Height is no more than ηHighly, i.e. dstep<
η, η are maximum allowable height；
(2) judgement hole class obstacle:
(a) depth requirements cheated are no more than η: dstep<η；
(b) slope requirement is no more than ηslope, dslope<ηslope, ηslopeTo allow the gradient；
(c) to critical grade, contiguous range is reduced into half, return step (b) rejudges；
(3) judge that pose constrains:
(a) angle of roll is calculated
(b) judge Ppitch+β<SpitchAnd Proll+γ<SrollWhether set up simultaneously, if setting up simultaneously, meets pose about
Otherwise beam is unsatisfactory for；PpitchAnd ProllFor the current pitch angle of rover and roll angle.
Obstacle is passed through in analysis, judges passability, specifically:
(1) to hole class obstacle, according to across Fault handling；
(2) to stone class obstacle, it is located at during path advances, according to across Fault handling；Positioned at path ends, original will affect
Ground turning, it is believed that the path can not pass through.
New images obstacle is analyzed, judges passability, specifically: for obstacle in dimensional topography point cloud chart picture needed for path
Information is not complete, obtains image information from the avoidance camera in rover；Dimensional topography point cloud chart picture is generated again；Later again
Carry out the analysis of topographic constraints suitability degree.
A kind of passability that the moon back complicated landform passability method of discrimination based under the limited constraint is realized is sentenced
Other system, comprising:
Point cloud obtains module: obtaining target position, path, dimensional topography point cloud chart picture；
Module is established in constraint: establishing topographic constraints, kinematic constraint, pose constraint；
Constrain judgment module: for judging kinematic constraint；
Suitability degree analysis module: carrying out suitability degree analysis according to topographic constraints, and terrain obstruction is divided into across obstacle, is passed through
Obstacle, new images three classes；
Passability discrimination module: it is analyzed respectively across obstacle, by obstacle and new images obstacle, judgement can pass through
Property, so that the moon back complicated landform passability completed under limited constraint differentiates
The invention has the following advantages over the prior art:
(1) prior art is formed on the basis of No. three tasks of the goddess in the moon.No. three lunar surfaces of the goddess in the moon are maked an inspection tour in detection mission, ground
Shape condition is preferable, and it is shorter to make an inspection tour duty cycle.It carries on the back for the goddess in the moon No. four and makes an inspection tour in the moon, lunar surface is complicated, and task is more, the constraint item faced
Part is more.The present invention carries out passability differentiation to the guidance path on complicated landform landforms, lays the foundation for lunar surface tour.
(2) present invention input is dimensional topography point cloud chart, path, target point, and it includes maximum allowable for constraining, and allows the gradient,
Turning radius, roll angle, pitch angle, yaw angle, solar azimuth, relay satellite orientation, movement speed, avoidance camera participate in landform point
Various constraints are divided into topographic constraints, kinematic constraint and pose and constrained, given and sentence under a variety of constraint conditions by analysis etc., the present invention
The process of breaking diameter passability makes explicit provisions to the differentiation timing of a variety of constraints.
(3) terrain obstruction of the present invention is divided into across obstacle, by obstacle, new images three classes, will be how on analysis path
The passability problem in the presence of stone and hole near stone, hole and path has carried out clearly stipulate that giving in conjunction with more
The passability method of discrimination of kind constraint.
Detailed description of the invention
Fig. 1 month carries on the back topographic map；
Fig. 2 judgment method flow chart of the present invention.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
No. 4 rovers of the goddess in the moon carry on the back mobile test platform the first moon as the mankind, execute in the far-side of the moon and make an inspection tour detection mission.
The moon the privately more rugged complexity of shape, cheat throughout as shown in Figure 1.And execution task is more, brings to tour detection higher
Technological challenge and difficulty.The tasks such as its movement, suspend mode, scientific exploration needs are completed under various constraint conditions, these constraint items
Part is more stringenter than the goddess in the moon No. 3, including, height threshold, gradient threshold value, maximum curvature, suspend mode point pitch axis roll angle, pitch angle
With yaw angle, solar azimuth, relay satellite orientation, movement speed, avoidance camera participate in terrain analysis etc..This patent proposes one kind
The moon under limited constraint carries on the back complicated landform passability method of discrimination, can pass through to the guidance path progress on complicated landform landforms
Property differentiate, for lunar surface make an inspection tour detection laying the foundation.
As shown in Fig. 2, complex landform is carried on the back for the moon, it can the invention proposes complicated landform is carried on the back by the moon under a kind of limited constraint
Passability method of discrimination, steps are as follows:
(1) target position, path, dimensional topography point cloud chart picture are obtained；
Target position refers to the target of this movement of rover, and using vehicle body as origin, mesh in east northeast is moved under coordinate system
Target location point；Path is existing navigation programming result；Dimensional topography point cloud chart picture is the three-dimensional splicing point of navigation camera image
Cloud landform.
(2) topographic constraints, kinematic constraint, pose constraint are established；
Topographic constraints GPRefer to that features of terrain and rover locomotivity take the constraint mapped in landform into consideration, including
Allow the gradient, maximum allowable height, maximum terrain roughness, be expressed as gathering:
GP={ xi| i=1,2,3 }
Kinematic constraint NPRefer to starting, terminate and motion state limitation in the process, movement velocity require to include mobile speed
Degree requires, turning radius requires etc..It is expressed as
NP={ yi| i=1,2,3 }
The motion state limitation includes course constraint, movement velocity constraint and turning radius constraint；
According to position of sun, relay satellite position, whether relay satellite communication blocks and particular task demand determines course about
The allowed band of beam；Movement velocity constraint refers to the requirement of the movement speed in rover moving process；Turning radius constraint refers to
Permission turning radius requirement in rover moving process.
Pose constrains APRefer to rover position and the Gesture of particular task, including suspend mode point headstock is directed toward, vehicle body
Pitching, vehicle body rolls and rover position, is expressed as
AP={ zi| i=1,2,3,4 }.
(3) judge kinematic constraint, specifically:
(3.1) judge whether mobile curvature meets kinematic constraint NPIn turning radius constraint；
(3.2) whether course angle meets kinematic constraint N during judging the movement of rover curvature, pivot turnPIn boat
To constraint；
(3.3) whether analysis rover moving process average movement velocity meets kinematic constraint NPIn movement velocity about
Beam；
(3.4) if there is arbitrarily item is unsatisfactory for, then the path can not pass through.
(4) suitability degree analysis is carried out according to topographic constraints, terrain obstruction is divided into across obstacle, by obstacle, new images
Three classes；
Specifically:
(4.1) dimensional topography point cloud chart picture is divided into multiple neighborhoods, and each field is fitted to plane；Fitting is put down
Face equation are as follows: z=Ax+By+C, wherein A, B, C are fitting coefficient, and calculating process is as follows:
Consider neighborhood, with least square method fit Plane, the plane computations grade information then obtained according to fitting.Assuming that
Having any one elevational point in neighborhood is (xi,yi,zi), wherein (xi,yi) indicate position of this in map, ziIndicate its height
Journey value.Assuming that the plane equation of fitting are as follows:
Z=Ax+By+C
By least square method, A, B are asked, C makes E minimum.Wherein, E are as follows:
Local derviation is asked to A, B, C respectively, can be obtained:
A, B, C can be obtained by solving above equation group.The law vector of known fit PlaneIt afterwards, can be according to following
Formula obtains plane angle of gradient β and angle of roll γ.
The step depth displacement of (4.2) grids is obtained by difference in height highest and lowest in the neighborhood centered on the grid
It arrives, i.e., maximum height is the step depth displacement d in neighborhoodstep,
dstep=Hmax-Hmin,
Wherein, HmaxAnd HminMaximum height and depth capacity respectively in neighborhood；
(4.3) gradient is the gradient d of neighborhoodslope=β,
The plane angle of gradient
Angle of roll γ are as follows:
(4.4) after obtaining the fit Plane in grid neighborhood, roughness by point each in neighborhood to fit Plane away from
From root mean square characterization, be expressed as
Wherein, droughFor roughness, diIndicate the i-th point of distance for arriving fit Plane, n is number a little；
(4.5) according to topographic constraints GP, acquired disturbance information；
(4.6) according to the path and the complaint message, terrain obstruction is divided into across obstacle, by obstacle, new figure
As obstacle three classes.
Refer to obstacle in the paths across obstacle；
It is the obstacle for being less than safe distance outside path domain, apart from path by obstacle, safe distance S=D/2+m,
In, D is the vehicle width of rover, and m is preset security extension distance；
New images obstacle is that information is not complete, needs the obstacle of new image information.
(5) it analyzes respectively across obstacle, by obstacle and new images obstacle, judges passability, to complete limited
Moon back complicated landform passability under constraint differentiates.
Analysis judges passability across obstacle, specifically:
(5.1) for stone class obstacle, whether disturbance in judgement height, size meet constraint；Height is no more than ηHighly, i.e.,
dstep<η
η is maximum allowable height；
(5.2) judgement hole class obstacle:
(a) depth requirements cheated are no more than η:
dstep<η；
(b) slope requirement is no more than ηslope,
dslope<ηslope,
ηslopeTo allow the gradient；
(c) to critical grade, contiguous range is reduced into half, return step (b) rejudges；
(5.3) judge that pose constrains:
(a) angle of roll is calculated
(b) judge Ppitch+β<SpitchAnd Proll+γ<SrollWhether set up simultaneously, if setting up simultaneously, meets pose about
Otherwise beam is unsatisfactory for；PpitchAnd ProllFor the current pitch angle of rover and roll angle.
(6) obstacle is passed through in analysis, judges passability, specifically:
(6.1) to hole class obstacle, according to across Fault handling；
(6.2) to stone class obstacle, it is located at during path advances, according to across Fault handling；Positioned at path ends, will affect
Pivot turn, it is believed that the path can not pass through.
(7) new images obstacle is analyzed, judges passability, specifically:
New images obstacle is analyzed, judges passability: not for complaint message in dimensional topography point cloud chart picture needed for path
Complete, image information is obtained from the avoidance camera in rover；Dimensional topography point cloud chart picture is generated again；Re-start ground later
Shape constrains suitability degree analysis.
To sum up, present invention input is dimensional topography point cloud chart, path, target point, and constraint includes maximum allowable, permission slope
Degree, turning radius, roll angle, pitch angle, yaw angle, solar azimuth, relay satellite orientation, movement speed, avoidance camera participate in ground
Various constraints are divided into topographic constraints, kinematic constraint and pose and constrained by conformal analysis etc., the present invention, give a variety of constraint conditions
The process of lower judgement path passability, makes explicit provisions to the differentiation timing of a variety of constraints.The present invention is to complicated landform
Guidance path in looks carries out passability differentiation, and for the goddess in the moon No. four, in the moon, back tour is laid a good foundation.
For terrain obstruction, it is divided into across obstacle, by obstacle, new images three classes by the present invention, how will analyze
Stone, hole on path and the stone near path and the passability problem in the presence of hole have carried out clearly stipulate that providing
Combine the passability method of discrimination of a variety of constraints.
Claims (12)
1. the moon under a kind of limited constraint carries on the back complicated landform passability method of discrimination, it is characterised in that steps are as follows:
(1) target position, path, dimensional topography point cloud chart picture are obtained；
(2) topographic constraints, kinematic constraint, pose constraint are established；
(3) judge kinematic constraint；
(4) suitability degree analysis is carried out according to topographic constraints, terrain obstruction is divided into across obstacle, by obstacle, new images three classes；
(5) it analyzes respectively across obstacle, by obstacle and new images obstacle, judges passability, to complete limited constraint
Under the moon back complicated landform passability differentiate.
2. the moon under a kind of limited constraint according to claim 1 carries on the back complicated landform passability method of discrimination, feature
Be: the target position refers to the target of this movement of rover, and using vehicle body as origin, mesh in east northeast is moved under coordinate system
Target location point；Path is existing navigation programming result；Dimensional topography point cloud chart picture is the three-dimensional splicing point of navigation camera image
Cloud landform.
3. the moon under a kind of limited constraint according to claim 1 carries on the back complicated landform passability method of discrimination, feature
It is: topographic constraints GPRefer to that features of terrain and rover locomotivity take the constraint mapped in landform into consideration, including permits
Perhaps the gradient, maximum allowable height, maximum terrain roughness, are expressed as gathering: GP={ xi| i=1,2,3 }.
4. the moon under a kind of limited constraint according to claim 1 carries on the back complicated landform passability method of discrimination, feature
It is: kinematic constraint NPRefer to starting, terminate and in the process motion state limitation, be expressed as NP={ yi| i=1,2,3 }, institute
Stating motion state limitation includes course constraint, movement velocity constraint and turning radius constraint；
Whether blocked according to position of sun, relay satellite position, relay satellite communication and particular task demand determines course constraint
Allowed band；
Movement velocity constraint refers to the requirement of the movement speed in rover moving process；Turning radius constraint refers to that rover is mobile
Permission turning radius requirement in the process.
5. the moon under a kind of limited constraint according to claim 1 carries on the back complicated landform passability method of discrimination, feature
Be: pose constrains APRefer to rover position and the Gesture of particular task, including suspend mode point headstock is directed toward, vehicle body is bowed
Face upward, vehicle body roll and rover position, be expressed as AP={ zi| i=1,2,3,4 }.
6. the moon under a kind of limited constraint according to claim 4 carries on the back complicated landform passability method of discrimination, feature
It is: judges kinematic constraint specifically:
(3.1) judge whether mobile curvature meets kinematic constraint NPIn turning radius constraint；
(3.2) whether course angle meets kinematic constraint N during judging the movement of rover curvature, pivot turnPIn course about
Beam；
(3.3) whether analysis rover moving process average movement velocity meets kinematic constraint NPIn movement velocity constraint；
(3.4) if there is arbitrarily item is unsatisfactory for, then the path can not pass through.
7. the moon under a kind of limited constraint according to claim 1 carries on the back complicated landform passability method of discrimination, feature
Be: the step (4) carries out suitability degree analysis according to topographic constraints, and terrain obstruction is divided into across obstacle, by obstacle, new
Image three classes, specifically:
(4.1) dimensional topography point cloud chart picture is divided into multiple neighborhoods, and each field is fitted to plane；The plane side of fitting
Journey are as follows: z=Ax+By+C, wherein A, B, C are fitting coefficient；
(4.2) maximum height is the step depth displacement d in neighborhoodstep,
dstep=Hmax-Hmin,
Wherein, HmaxAnd HminMaximum height and depth capacity respectively in neighborhood；
(4.3) gradient is the gradient d of neighborhoodslope=β,
The plane angle of gradient
(4.4) the root mean square characterization of distance of the roughness by point each in neighborhood to fit Plane, is expressed as
Wherein, droughFor roughness, diIndicate the i-th point of distance for arriving fit Plane, n is number a little；
(4.5) according to topographic constraints GP, acquired disturbance information；
(4.6) according to the path and the complaint message, terrain obstruction is divided into across obstacle, by obstacle, new images and is hindered
Hinder three classes.
8. the moon under a kind of limited constraint according to claim 7 carries on the back complicated landform passability method of discrimination, feature
It is: refers to obstacle in the paths across obstacle；It is the barrier for being less than safe distance outside path domain, apart from path by obstacle
Hinder, safe distance S=D/2+m, wherein D is the vehicle width of rover, and m is preset security extension distance；
New images obstacle is that information is not complete, needs the obstacle of new image information.
9. the moon under a kind of limited constraint according to claim 8 carries on the back complicated landform passability method of discrimination, feature
Be: analysis judges passability across obstacle, specifically:
(1) for stone class obstacle, whether disturbance in judgement height, size meet constraint；Height is no more than ηHighly, i.e. dstep< η, η are
Maximum allowable height；
(2) judgement hole class obstacle:
(a) depth requirements cheated are no more than η: dstep<η；
(b) slope requirement is no more than ηslope, dslope<ηslope, ηslopeTo allow the gradient；
(c) to critical grade, contiguous range is reduced into half, return step (b) rejudges；
(3) judge that pose constrains:
(a) angle of roll is calculated
(b) judge Ppitch+β<SpitchAnd Proll+γ<SrollWhether set up simultaneously, if setting up simultaneously, meets pose constraint, it is no
Then it is unsatisfactory for；PpitchAnd ProllFor the current pitch angle of rover and roll angle.
10. the moon under a kind of limited constraint according to claim 9 carries on the back complicated landform passability method of discrimination, feature
Be: analysis judges passability by obstacle, specifically:
(1) to hole class obstacle, according to across Fault handling；
(2) to stone class obstacle, it is located at during path advances, according to across Fault handling；Positioned at path ends, pirouette will affect
It is curved, it is believed that the path can not pass through.
11. the moon under a kind of limited constraint according to claim 8 carries on the back complicated landform passability method of discrimination, feature
Be: analysis new images obstacle judges passability, specifically: obstacle in dimensional topography point cloud chart picture needed for path is believed
Breath is not complete, obtains image information from the avoidance camera in rover；Dimensional topography point cloud chart picture is generated again；Later again into
The analysis of row topographic constraints suitability degree.
12. a kind of differentiated based on the moon back complicated landform passability being limited under constraint described in any one of claim 1~11
The passability judgement system that method is realized, characterized by comprising:
Point cloud obtains module: obtaining target position, path, dimensional topography point cloud chart picture；
Module is established in constraint: establishing topographic constraints, kinematic constraint, pose constraint；
Constrain judgment module: for judging kinematic constraint；
Suitability degree analysis module: carrying out suitability degree analysis according to topographic constraints, and terrain obstruction is divided into across obstacle, by barrier
Hinder, new images three classes；
Passability discrimination module: analyzing respectively across obstacle, by obstacle and new images obstacle, judge passability, from
And it completes the moon back complicated landform passability under limited constraint and differentiates.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111427382A (en) * | 2020-03-03 | 2020-07-17 | 北京空间飞行器总体设计部 | Relay pointing planning method for reference change under complex lunar surface terrain |
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