An Improved A* Algorithm for Multi-Environmental Factor Lunar Rover Path Planning

Based on the improved A* algorithm, a lunar rover path planning algorithm based on slope, roughness, Solar illumination conditions and Earth visibility conditions is proposed in this paper. Because the South Pole of the Moon contains many permanently Shadowed areas, where large amounts of water ice and related resources are concentrated, it is considered a potential lunar base landing site. Lunar rovers on missions need path planning to reduce driving costs and risks. This paper uses DEM image to generate slope and roughness information, combined with the lunar South Pole solar illumination and the earth visibility condition, considering the convergence speed and environmental complexity of the algorithm, improves the traditional A* algorithm, and gives the simulation results.