Path Planning of Lunar Rover Group Based on Theory of Dynamic Programming and Multi-objective Optimization

A path planning of lunar rover group composed of one six-wheeled rocker-bogie master lunar rover and three spherical slave lunar rovers was presented for efficiency, safety and energy saving. The slave lunar rovers moved back and forth among nodes of every step for path survey. The objective value of every path to objects, which were energy and time consumption of the master rover and length of path, was calculated according to the concerted motion control based on the calculation on the pitch angle of rockers, kinematics analysis based on the velocity projection theorem and quasi-static analysis of the master lunar rover. Then dynamic programming and optimization of path was carried to the master lunar rover, using method of max relative membership degree of policy. Compared with the result of multi-attribute decision of path without the slave lunar rovers moving back and forth among nodes of every step, the dynamic programming and optimization of path saves energy.