Informed RRT^*アルゴリズムを用いた月極域における水探査のための経路計画手法

抄録

For water exploration in the lunar polar region, we are considering a path planning method directed towards a predefined and dynamically changing target region (in this case, the sunlit region). We propose a novel path planning method that utilizes a mathematical modeling algorithm for neutron detectors, which is based on a Bayesian network, and adapts Informed RRT^* algorithm. This algorithm automatically sets the search space based on the time-varying environment, such as a changing sunlight region, and incorporates its map cost. We believe that the proposed method can be practically applied for exploration in time-varying sunlight regions and can identify optimal routes. Furthermore, we have applied the proposed algorithm to ideal data and have verified its effectiveness.