Solar navigational planning for robotic explorers

摘要

This research considers the sun's motion and terrain in navigational planning. Robotic exploration of remote areas depends heavily on efficient use of power resources. An orbital ephemeris and terrain data are incorporated into a robotic planner to predict shadowing and solar power generation. The simulation and evaluation of coverage patterns are described, as well as searches for continually sunlit paths or for nearby locations suitable for recharging or communicating with Earth. Aspects of the research were implemented as part of the Robotic Antarctic Meteorite Search project, for which simulations and field test results are given.