The Multi-Goal Path Planning of Lunar Rover Based on Grid Model

It is a difficult task to fulfill a path planning with realistic significance when aiming at a single target point in such complex real-world. This paper proposes a new kind of multi-objective path planning method based on the grid map for planetary exploration. An improved D*lite algorithm is presented to solve the local optimal path planning based on the extraction and rasterization of Digital Elevation Model (DEM) graph. Especially, a heuristic algorithm is adopted to ensure the convergence of the algorithm, and the theoretical proof is given. Traveling Salesman Problem (TSP) is demonstrated to verify the proposed method. Both the theoretical proof and simulation results show that this proposed algorithm is feasible, to solve planning with multi-goals problem successfully and with a good performance at the same time.