Autonomic mission planning for lunar rovers in complex environment

Autonomic mission-planning is important to lunar rover because it can improve the reliability and efficiency of science exploration. The complex environment of rovers makes the planned results are affected by many factors. A practical mission sequence could not be made without considering these comprehensive factors. Aimed at the practical need of mission-planning for lunar rovers, a planning domain modeling technology has been put forward, taking account of lunar terrain traversabilities, earth communication opportunities, solar energy requirements, temperature limits and mechanical interventions. When rovers traverse on the moon, a dynamic searching algorithm called SD*Lite is developed. All way stations along the path from start station to ending station and working mode sequence at each way station can be gained based on the searching algorithm.