用机器人主动探测月球氦-3分布，精度和效率远超传统遥感。
He3-Seeker: Robotic Information Planning for Lunar Helium-3 Distribution Mapping
- 通过多点钻探采样与原位分析，结合机器人信息规划导航。
- 仿真验证可快速高保真绘制氦-3分布图，提升探测可靠性。
- 适合月球资源勘探、深空探测团队参考使用。
月球氦-3是一种极具战略价值的资源，对深空探索与太空采矿至关重要。现有探测方法主要依赖远程遥感的间接测量，常存在精度低、可靠性差、空间分辨率不足等问题。本文提出He3-Seeker，一种主动式月球氦-3分布映射机器人探索方法。首先形式化定义主动探测问题；随后构建基于多点钻探、采样与原位分析的框架，利用机器人信息规划（RIP）指导自主导航与主动感知。为全面评估算法性能，我们提出一种基于低分辨率轨道遥感数据生成氦-3分布参考数据的方法。仿真结果表明，He3-Seeker可实现快速且高保真的氦-3分布制图，为资源勘探任务提供可靠解决方案。代码与仿真环境将公开于https://github.com/OpenSpace-Lab/He3-Seeker。
原文摘要 · Abstract (English)
Lunar helium-3 is a highly valuable strategic resource, pivotal to the advancement of both deep-space exploration and space mining. Existing lunar helium-3 exploration methodologies rely primarily on indirect measurements via remote sensing, which are often characterized by limited precision, low reliability, and insufficient spatial resolution. In this paper, we introduce He3-Seeker, an active robotic exploration method for helium-3 distribution mapping. First, we provide a formal definition of the active helium-3 exploration problem. Subsequently, we developed the He3-Seeker framework, which is conceptually based on multi-point drilling, sampling, and in situ analysis. In particular, we use robotic information planning (RIP) to guide autonomous robot navigation and active sensing. Additionally, to thoroughly evaluate the proposed algorithm, we introduce a reliable method for generating reference data of lunar helium-3 distribution based on low-resolution orbital remote sensing measurements. Simulation experiments verify that He3-Seeker achieves both rapid and high-fidelity mapping of helium-3 distribution, providing a reliable solution for resource exploration tasks. Our code and simulation environment will be publicly accessible at https://github.com/OpenSpace-Lab/He3-Seeker.
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