Research on Dual-layer Path Planning Method for Lunar Rover Based on Slip Prediction

Authors

Zhang Xingyu, School of Mathematics, China University of Mining and Technology, Xuzhou 221116, China
Baolei Wu, School of Computer Science and Technology, China University of Mining and Technology, Xuzhou 221116, China
Jun Wang, School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China
Miaoying Hong, School of Mathematics, China University of Mining and Technology, Xuzhou 221116, China
Jiahui Wang, School of Information and Control Engineering, China University of Mining and Technology, Xuzhou 221116, China
Yongqiang Qi, School of Mathematics, China University of Mining and Technology, Xuzhou 221116, China; 2. School of Computer Science and Technology, China University of Mining and Technology, Xuzhou 221116, China

Abstract

Abstract: In response to the challenges faced by lunar rovers in the process of path planning, such as safe obstacle avoidance and target deviation caused by complex terrain, a dual-layer path planning based on slip prediction is proposed. In this approach, flat terrain is adaptively selected to reduce the wheel slip of the lunar rover. The overall complexity of the terrain is calculated using digital elevation information, and a Q-learning algorithm with a three-level reward mechanism is designed to navigate around highslip areas, achieving global path planning. A depth camera is used to perceive obstacles, a dynamic window method based on adaptive prediction time is designed for autonomous obstacle avoidance, and local path planning is accomplished by introducing local terrain suitability. Numerical and virtual simulation results indicate that this algorithm can efficiently conduct path planning in complex terrain environments, with fast convergence and high safety.

Recommended Citation

Xingyu, Zhang; Wu, Baolei; Wang, Jun; Hong, Miaoying; Wang, Jiahui; and Qi, Yongqiang (2025) "Research on Dual-layer Path Planning Method for Lunar Rover Based on Slip Prediction," Journal of System Simulation: Vol. 37: Iss. 4, Article 15.
DOI: 10.16182/j.issn1004731x.joss.23-1552
Available at: https://dc-china-simulation.researchcommons.org/journal/vol37/iss4/15

First Page

1008

Last Page

1024

CLC

TP391.9

Recommended Citation

Zhang Xingyu, Wu Baolei, Wang Jun, et al. Research on Dual-layer Path Planning Method for Lunar Rover Based on Slip Prediction[J]. Journal of System Simulation, 2025, 37(4): 1008-1024.

Corresponding Author

Qi Yongqiang

DOI

10.16182/j.issn1004731x.joss.23-1552