Research on behavior planning model of lunar rover based-on situation calculus

Mission Planning is a key technology in teleoperation of lunar rover, however, mission planning is a domain related technology and some approaches in other domains could not be used directly for lunar rovers. Aimed at this problem, rover planning architecture is divided into several layers. Supposed global planning has gotten the path and all waypoints along the path, the behavior planning on each waypoint is considered. In the case of considering most of environment factors such as terrain, sunlight, energy and communication, the approach based on situation calculus is proposed, which could be used to give out the behavior sequence of lunar rover. An instance is also to be put forward to illustrate how to build a rover behavior planner by using situation calculus.