A Path Planning Algorithm Based on Improved RRT for Lunar Subsurface Autonomous Burrowing Robot

Yangyi Liu,Yangping Li,Ke Wang,Zhihong Qiao,Zihao Yuan,Xihan Li,Lu Zhang,Haifeng Zhao

2020 4th Annual International Conference on Data Science and Business Analytics (ICDSBA)（2020）

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摘要

The detection with autonomous burrowing robot might be a low-cost and high-efficient solution for a future lunar subsurface exploration mission. The path planning of underground locomotive robot in a three-dimensional (3-D) domain is a very challenging task under the circumstance of lunar subsurface segregated by lunar rocks. In this work, a pruning-improved RRT algorithm was proposed to generate ...

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关键词

Solid modeling,Smoothing methods,Moon,Radar,Rocks,Numerical simulation,Trajectory

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