为月球车设计能量约束导航，兼顾太阳能与核电源的混合供电。
Energy-Constrained Navigation for Planetary Rovers under Hybrid RTG-Solar Power
- 基于物理模型融合动力学与能量消耗，建模移动、转向和阻力功耗。
- 仿真显示峰值功率仅超限0.55%，传统方法超17%以上。
- 适合长期行星任务中的能量敏感型机器人自主导航。
未来行星探测漫游车需在混合电源下长期运行，该电源结合稳定的放射性同位素热电发电机（RTG）输出与波动的太阳能光伏（PV）供给。尽管能量感知规划已在空中与水下机器人中研究，但地面漫游车极少显式建模能量流或施加瞬时功率约束。经典地形感知规划侧重坡度或可通行性，轨迹优化通常关注几何平滑性和动态可行性，忽视能量可行性。本文提出一种能量约束轨迹规划框架，显式整合平移、旋转及阻力功率的物理模型，以及基础子系统功耗，在混合RTG-太阳能输入下进行优化。通过将累积能量预算与瞬时功率约束融入基于SE(2)的多项式轨迹优化，确保轨迹同时满足平滑性、动态可行性与功率合规性。在类月地形上的仿真结果表明，本方法生成的轨迹峰值功率仅超出规定限值0.55%，而现有方法超过17%。这证明了该方法在长周期行星任务中能量感知自主性的原理性与实用性。
原文摘要 · Abstract (English)
Future planetary exploration rovers must operate for extended durations on hybrid power inputs that combine steady radioisotope thermoelectric generator (RTG) output with variable solar photovoltaic (PV) availability. While energy-aware planning has been studied for aerial and underwater robots under battery limits, few works for ground rovers explicitly model power flow or enforce instantaneous power constraints. Classical terrain-aware planners emphasize slope or traversability, and trajectory optimization methods typically focus on geometric smoothness and dynamic feasibility, neglecting energy feasibility. We present an energy-constrained trajectory planning framework that explicitly integrates physics-based models of translational, rotational, and resistive power with baseline subsystem loads, under hybrid RTG-solar input. By incorporating both cumulative energy budgets and instantaneous power constraints into SE(2)-based polynomial trajectory optimization, the method ensures trajectories that are simultaneously smooth, dynamically feasible, and power-compliant. Simulation results on lunar-like terrain show that our planner generates trajectories with peak power within 0.55 percent of the prescribed limit, while existing methods exceed limits by over 17 percent. This demonstrates a principled and practical approach to energy-aware autonomy for long-duration planetary missions.
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