This paper proposes a global path planning for lunar rovers in polar regions under static and dynamic constraints. Prior to lunar mission launch, a specific mission path must be set for a lunar rover. The mission path is generated under uncertain information. Only lunar digital elevation model (DEM) and secondary parameters derived from DEM are available. The parameters can be divided into two categories: static parameters and dynamic parameters. Parameters such as DEM, slope, and roughness can be categorized into static parameters. Illumination and thermal inertia can be categorized into dynamic constraints. This paper introduces such parameters as constraints for path planning, by either giving weight to each parameters or suggesting a threshold for a dead zone. A* path planning method is used to implement such parameters as constraints. Simulations of path planning are shown.

中文翻译：

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静态和动态约束下月球车的全局路径规划

本文提出了一种静态和动态约束下极地月球车的全局路径规划。登月任务发射前，必须为月球车设定特定的任务路径。任务路径是在不确定信息下生成的。只有月球数字高程模型 (DEM) 和衍生自 DEM 的次要参数可用。参数可分为两类：静态参数和动态参数。DEM、坡度和粗糙度等参数可以归类为静态参数。照明和热惯性可以归类为动态约束。本文通过为每个参数赋予权重或建议盲区阈值来介绍路径规划的约束等参数。A*路径规划方法用于实现约束等参数。