Autonomous environment perception and obstacle avoidancetechnologies of Zhurong Mars rover

Abstract

<p indent="0mm">Mars surface exploration has the characteristics and constraints of harsh and complex environment, lack of prior knowledge, and strict limitation of computing resources. Autonomous environment perception and obstacle avoidance technology is the key to the ability of autonomous exploration, and also one of the key technologies in the field of deep space exploration at home and abroad. In China Tianwen-1 Mars exploration mission, the Zhurong Mars rover, China’s first Mars surface mobile exploration, has realized efficient autonomous environmental perception, obstacle avoidance planning and control under the constraints of limited resources, significantly improved the efficiency of mobile exploration, and the average moving speed is nearly 5 times higher than that of Yutu-2 lunar rover. This paper briefly introduces the sensor configuration, movement mode function and process of Zhurong Mars rover supporting autonomous perception and obstacle avoidance movement, and focuses on the breakthroughs in key technologies of efficient perception and obstacle avoidance planning, including binocular stereo vision efficient perception method based on fast parallel processing, in order to realize the efficiency and safety of autonomous perception and obstacle avoidance movement under severe resource constraints Based on the environmental modeling and obstacle avoidance planning method of trafficability analysis. Finally, the autonomous perception and obstacle avoidance mobile detection of Zhurong Mars rover during the mission is summarized, and the technical development thoughts on further enhancing the autonomous perception and obstacle avoidance ability of Mars rover in the future are put forward in the end.