Research Progress on Autonomous Navigation Technology for Landing and Roaming of Extraterrestrial Surface Detectors

Abstract

Drawing on the practical experience of celestial body detection projects at home and abroad，the urgent need for autonomous navigation technology in the tasks of extraterrestrial surface exploration and development was analyzed in detail. Based on this requirement，the relevant engineering practices of lunar，Mars，and small celestial body detectors in the landing and roaming missions were reviewed. And in view of the environmental challenges such as extreme illumination interference，dust occlusion effect，and complex terrain features in these tasks，technical difficulties of landing and roaming autonomous navigation were deeply discussed. On this basis，key technologies involved in autonomous navigation，including obstacle detection，autonomous localization，and trajectory planning，were systematically summarized and concluded. Moreover，the development trends of landing and roaming navigation technologies for extraterrestrial surface detectors were prospected.

Keywords

multi-source information fusion autonomous navigation / detector landing and roaming / obstacle detection / autonomous localization / trajectory planning