关键词: 航天器结构与设计, 月面巡视探测器, 路径规划, 算法评估

Abstract: In this paper the performance of the algorithm for lunar rover pathplanning is evaluated, and a quantified evaluating function for the performance of the pathplanning algorithm was proposed. The feasibility of the evaluating function was verified by experiments. Two commonly used global planning algorithms and two local planning algorithms were taken into consideration, and the search algorithm which is more adaptive for lunar exploration was identified by theoretical analysis using the evaluating function and by experiments. It is demonstrated that the proposed quantified evaluating function for the performance of path planning algorithm is not only feasible but also universal, which could be adaptable in evaluating other path planning algorithms.

Key words: spacecraft structure and design, lunar rover, path planning, algorithm evaluation