Dynamic Modeling and Path Planning of Jump-Wheeled Lunar Rover

In this paper, a jump-wheeled lunar rover is designed, which is capable of walking and jumping. The lunar rover relies on its wheels to move in flat areas, and jumps over obstacles by its inertial wheel in complex and rugged areas. Firstly, kinematics and dynamics modeling are carried out for the rover. The lunar surface is photographed by camera during the jumping process, which is then changed into a grid map. Finally, the take-off point of each step is generated by Q-Learning.