Bezier曲线与A-Star算法融合的火星探测器路径规划

使用移动探测器探索火星表面是各大航天国家探索火星的主流方式。为了得到探测器的安全路径，提出一种基于改进A^*算法的火星探测器路径规划算法。通过改进路径信息算法中的权重因子，优化传统算法的目标函数，可省略大量无价值的搜索路径，缩短搜索的时间，提高搜索效率。相比于传统的路径规划该算法能缩短53.94%的时间；引入拐角优化算法，在路径长度基本一致的情况下，减少了全局路径中拐弯的次数；满足探测器高效稳定的运行需求，拐角优化后，转弯次数相能减少16.77%。通过四阶贝塞尔曲线对路径进行平滑处理，有效避免出现拐角尖峰，确保探测器在火星表面的平稳行进。

Mars rover path planning based on Bezier curve and A-Star algorithm

Exploring the surface of Mars with a mobile rover is the mainstream way for major spacefaring nations to explore Mars. In order to get a safe path for the rover, a Mars rover path planning algorithm based on the improved A-Star algorithm is proposed. By improving the weight factor in the path information algorithm and optimizing the objective function of the traditional algorithm, a large number of worthless search paths can be omitted, shortening the time of search and improving the search efficiency. Compared with the traditional path planning can shorten 53.94% of the time; the introduction of corner optimization algorithm, in the case of the path length is basically the same, reduce the number of turns in the global path; to meet the needs of efficient and stable operation of the detector, corner optimization, the number of turns can be reduced by 16.77%. The path is smoothed by the fourth-order Bessel curve, effectively avoiding the appearance of corner spikes and ensuring the smooth travel of the rover on the surface of Mars.