深空探测车环境感知与导航定位技术进展与展望

doi:10.11947/j.AGCS.2021.20210290

摘要/Abstract

摘要： 环境感知与导航定位是深空探测车自动驾驶的核心技术，由于深空环境的特殊性，深空探测车的环境感知与导航定位与地球上汽车自动驾驶的相应技术相比面临独特的挑战。本文从实际工程应用和科研进展两个角度总结了深空探测车环境感知、视觉定位、路径规划等关键技术的进展，并对未来深空探测车智能感知与长距离导航定位等发展方向进行了探讨与展望。

关键词: 深空探测, 月球车, 火星车, 环境感知, 视觉定位, 路径规划

Abstract: Environment perception and navigation are the core technologies for automated driving of deep space exploration rovers. Due to the special circumstances of the deep space environment, the rover’s environment perception and navigation are particularly challenging comparing to the corresponding technologies in autonomous car driving on Earth. The paper presents a review of the progresses of environment perception, rover localization and path planning, from engineering application and scientific research perspectives. Moreover, the future prospects of intelligent environment perception and long-range rover navigation are discussed.

Key words: deep space exploration, lunar rover, Mars rover, environment perception, visual localization, path planning

中图分类号:

P227

邸凯昌, 王镓, 邢琰, 刘召芹, 万文辉, 彭嫚, 王晔昕, 刘斌, 于天一, 李立春, 刘传凯. 深空探测车环境感知与导航定位技术进展与展望[J]. 测绘学报, 2021, 50(11): 1457-1468.

DI Kaichang, WANG Jia, XING Yan, LIU Zhaoqin, WAN Wenhui, PENG Man, WANG Yexin, LIU Bin, YU Tianyi, LI Lichun, LIU Chuankai. Progresses and prospects of environment perception and navigation for deep space exploration rovers[J]. Acta Geodaetica et Cartographica Sinica, 2021, 50(11): 1457-1468.

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