# 面向月球推进式无人机的安全且燃料高效运动规划

> 原文链接：https://robotics.hellobike.com/papers/2026-10-15-2610-22225
> 频道：papers | 更新日期：2026-10-15 | 标签：arxiv, cs.RO
> 核心摘要：提出视觉引导最优控制运动规划框架，用于月球推进式无人机在指定航点间安全省燃料跳跃，并在高保真月球仿真中验证。

# 面向月球推进式无人机的安全且燃料高效运动规划

::: v-pre
> 原文链接：[Safe and Fuel-Efficient Motion Planning for Lunar Propulsive Drones](https://arxiv.org/abs/2610.22225)（arXiv 2610.22225 · 发布日期：2026-10-15）

**Safe and Fuel-Efficient Motion Planning for Lunar Propulsive Drones**

提出视觉引导最优控制运动规划框架，用于月球推进式无人机在指定航点间安全省燃料跳跃，并在高保真月球仿真中验证。

## 核心要点

- 面向未来月球任务，推进式无人机需跨月面连续跳跃并采集下视图像。
- 框架规划航点间抛物线跳跃，遇到不安全或不可达航点则执行改道着陆。
- 利用语义分割识别航拍图像障碍，并快速计算可达地形以评估着陆点。
- 在高保真月球仿真中，MPC可低误差快速跟踪安全省燃料轨迹。

**验证范围与局限**：仅在高保真月球仿真环境中测试最优跳跃规划器。

## 英文摘要 (Abstract)

Propulsive drones are a promising new technology for generating high-resolution terrain models of the Moon. In future lunar missions, propulsive drones will complete a series of hops across the lunar surface while capturing images with downward-facing cameras. We present an autonomous motion planning framework that uses a vision-guided optimal control strategy for performing safe, efficient hops between specified waypoints. The drone plans parabolic hops between waypoints generated by a global-level planner; if a nominal waypoint is unsafe or unreachable, the drone then completes a diversion maneuver to safely land. To evaluate the validity of potential landing sites, we develop a custom semantic segmentation model for identifying obstacles from aerial images, and we introduce an approach for rapidly calculating reachable terrain. We then use model predictive control (MPC) to robustly track hop trajectories that guide the drone towards safe landing sites. We test the optimal hop planner in a high-fidelity lunar simulation environment. Our results demonstrate that our unified motion planning framework yields safe, fuel-efficient hop trajectories which can be tracked rapidly and with low error via MPC.

作者：Elena Wittemyer, Graco Gao
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## 原始参考来源 (Sources)

- [arXiv 2610.22225：Safe and Fuel-Efficient Motion Planning for Lunar Propulsive Drones](https://arxiv.org/abs/2610.22225)