Bouncing Motion and Path Planning of Small Body Surface Rover

Abstract

To address the problem that wheeled mobile rovers are difficult to adapt to the weak gravitational environment of small bodies. The jumping mode of the rover with cubic configuration was analyzed. A single-step bouncing strategy was proposed to exploit its barrier-crossing capability. At the same time，a variable-step A* algorithm was proposed to plan the surface movement path of the rover. The simulation results show that the rover can effectively cross the obstacles. The new algorithm reduces the path nodes and is more efficient for high-density obstacle terrain.

Keywords

small body defense / surface bouncing / path planning

References

[1] BEKEY I. Dealing with the threat to Earth from asteroids and comets[M]. [S. l.]：Publications and Public Relations，ISRO Headquarters，2009.
[2] 徐瑞，朱圣英，崔平远. 深空探测技术概论[M]. 北京：高等教育出版社，2021：25-29.
XU R, ZHU S Y, CUI P Y. Introduction to deep space exploration technology[M]. Beijing: Higher Education Press, 2021.
[3] VEVERKA J,FARQUHAR B,ROBINSON M,et al. The landing of the NEAR-Shoemaker spacecraft on asteroid 433 Eros[J]. Nature,2001,413(6854):390-393
[4] DUNHAM D W,FARQUHAR R W,MCADAMS J V,et al. Implementation of the first asteroid landing[J]. Icarus,2002,159(2):433-438
[5] YOSHIMITSU T，KUBOTA T，NAKATANI I. MINERVA rover which became a small artificial solar satellite [C]//The 20th Annual AIAA/USU Conference on Small Satellites. Utah，USA：AIAA，2006.
[6] ROLL R,WITTE L. ROSETTA lander Philae:touch-down reconstruction[J]. Planetary and Space Science,2016,125:12-19
[7] BOEHNHARDT H,BIBRING J P,APATHY I,et al. The Philae lander mission and science overview[J]. Philosophical Transactions of The Royal Society A Mathematical Physical and Engineering Sciences,2017,375(2097):20160248
[8] VAN W S,TSUDA Y,YOSHIKAWA K,et al. Prearrival deployment analysis of rovers on Hayabusa 2 asteroid explorer[J]. Journal of Spacecraft and Rockets,2018,55(4):797-817
[9] BIERHAYS E B,CLARK B C,HARRIS J W,et al. The OSIRIS-REx spacecraft and the Touch-and-Go Sample Acquisition Mechanism (TAGSAM)[J]. Space Science Reviews,2018,214(7):1-46
[10] RUDIN N,KOLVENBACH H,TSOUNIS V,et al. Cat-like jumping and landing of legged robots in low gravity using deep reinforcement learning[J]. IEEE Transactions on Robotics,2021,38(1):317-328
[11] PAVONE M，CASTILLO J C，NESNAS I，et al. Spacecraft/rover hybrids for the exploration of small Solar System bodies [C]//2013 IEEE Aerospace Conference. Montana，USA：IEEE，2013.
[12] WANG F,LI C,NIU S,et al. Design and analysis of a spherical robot with rolling and jumping modes for deep space exploration[J]. Machines,2022,10(2):126
[13] YOSHIMITSU T,KUBOTA T,NAKATANI I,et al. Micro-hopping robot for asteroid exploration[J]. Acta Astronautica,2003,52(2-6):441-446
[14] GAJAMOHAN M，MERZ M，THOMMEN I，et al. The Cubli：a cube that can jump up and balance[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Algarve，Portugal：IEEE，2012.
[15] 王飞. 小行星跳跃探测器着陆跳跃运动仿真分析[D]. 哈尔滨：哈尔滨工业大学，2014.
WANG F. Research on simulation of the motion of landing and hopping of asteroid hopping probe[D]. Harbin：Harbin Institute of Technology，2014.
[16] 袁勤. 小行星探测器跳跃行走导航与控制策略研究[D]. 哈尔滨：哈尔滨工业大学，2015.
YUAN Q. Research on navigation and control of the hopping motion of asteroid probe[D]. Harbin：Harbin Institute of Technology，2015.
[17] FENG R，ZHANG Y，LIU J，et al. Soft robotic perspective and concept for planetary small body exploration[EB/OL]. [2021-12-22]（2022-5-6）. https://www.liebertpub.com/doi/abs/10.1089/soro.2021.0054.
[18] GRIMM C D,GRUNDMANN J T,HENDRIKSE J,et al. From idea to flight—a review of the Mobile Asteroid Surface Scout (MASCOT) development and a comparison to historical fast-paced space programs[J]. Progress in Aerospace Sciences,2019,104:20-39
[19] 李晓旭，马兴录，王先鹏. 移动机器人路径规划算法综述[J]. 计算机测量与控制， 2022，30（7）：9-19.
LI X X，MA X L，WANG X P. A survey of path planning algorithms for mobile robots[J]. Computer Measurement Control， 2022，30（7）：9-19.
[20] GUNAWAN S A，PRATAMA G N P，CAHYADI A I，et al. Smoothed a-star algorithm for nonholonomic mobile robot path planning[C]//2019 International Conference on Information and Communications Technology （ICOIACT）. Yogyakarta，Indonesia：IEEE，2019：654-658.
[21] ZHENG T，XU Y，ZHENG D. AGV path planning based on improved A-star algorithm[C]//2019 IEEE 3rd Advanced Information Management，Communicates，Electronic and Automation Control Conference （IMCEC）. Chongqing，China：IEEE，2019：1534-1538.
[22] 舒伟楠,赵建森,谢宗轩,等. 基于改进A*算法的水面无人艇路径规划[J]. 上海海事大学学报,2022,43(2):1-6
SHU W N,ZHAO J S,XIE Z X,et al. Path planning for unmanned surface vessels based on improved A* algorithm[J]. Journal of Shanghai Maritime University,2022,43(2):1-6
[23] HUNT K H,CROSSLEY F R E. Coefficient of restitution interpreted as damping in vibroimpact[J]. Journal of Applied Mechanics,1975,42(2):440
[24] MARGHITU D B. The impact of flexible links with solid lubrication[J]. Journal of Sound Vibration,1997,205(5):712-720
[25] SHAN M,GUO J,GILL E. Contact dynamic models of space debris capturing using a net[J]. Acta Astronautica,2017,158:198-205