宇航学报

宇航学报 ›› 2018, Vol. 39 ›› Issue (11): 1185-1196.doi: 10.3873/j.issn.1000-1328.2018.11.001

• 综述 • 上一篇    下一篇

行星车视觉导航与自主控制进展与展望

郭延宁，冯振，马广富，郭宇晴，张米令   

  1. 哈尔滨工业大学控制科学与工程系，哈尔滨 150001
  • 收稿日期:2018-03-28 修回日期:2018-05-21 出版日期:2018-11-15 发布日期:2018-11-25
  • 基金资助:

    国家自然科学基金（61673135,61603114）

Advances and Trends in Visual Navigation and Autonomous Control of a Planetary Rover

GUO Yan ning, FENG Zhen, MA Guang fu, GUO Yu qing, ZHANG Mi ling   

  1. Department of Control Science and Engineering, Harbin Institute of Technology, Harbin 150001, China
  • Received:2018-03-28 Revised:2018-05-21 Online:2018-11-15 Published:2018-11-25

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摘要：

以视觉为主的行星车自主地形感知、导航、规划与控制系统是其安全高效探测的重要保障。本文通过对已成功开展和计划中的系列行星车任务导航与控制系统进行汇总，重点梳理了行星车多源地形感知、自主全局和局部导航、自主路径规划与控制等若干关键问题的进展情况，展望了未来自主化、智能化的发展趋势，并结合任务需求构建了行星车视觉导航与自主控制研究框架设想。

关键词: 行星车, 地形感知, 自主导航；路径规划；跟踪控制

Abstract:

The visual based planetary rover autonomous terrain perception, navigation, path planning and control system is an important safeguard for the safe and efficient scientific detection. This paper summarizes the navigation and control systems of the planetary rovers that have been successfully launched or programmed in the future. We focus on combing the progress of several key issues such as multi-source terrain perception, autonomous global or local navigation, autonomous path planning and control. Combining the future mission requirements, the autonomous and intelligent development trend is summarized and prospected, and a research framework for the visual navigation and autonomous control of the planetary rovers is constructed.

Key words: Planetary rover, Terrain perception, Autonomous navigation, Path planning, Tracking control

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