Research on path planning algorithm and its application based on terrain slope for slipping prediction in complex terrain environment

The project proposed a path planning algorithm based on terrain slope for slip prediction, aiming at the path planning failure caused by the slip in soft terrain environment. First, the slippage is predicted using terrain slope information, and a slip prediction algorithm is developed; then, merging the predicted slip information into the terrain traversability cost function, the goodness map was generated, and the integration of the slip prediction and path planning algorithm is implemented. The path planning algorithm by slip prediction can choose a better path, even avoid that terrains of large slip before getting stuck and increase the efficiency of path planning in that terrain environments, especially in soft terrain environment; It is established the important theoretical foundation of the development on the autonomous navigation of lunar rover.