Working-mode planning of rover in lunar exploration environment

Mission planning of rover in lunar exploration environment is the key technology for scientific exploration at specified location. During the moving to destination, rover executes various working-modes including sensing, charging, detecting, sleeping and moving. The execution of each kind of working-mode needs to abide by some interior constraints when rover switches to different working-modes, furthermore, also needs to fulfill some external constraints, such as terrain passing ability, communication window to the earth, visibility to the sun. Under these constrains, a heuristic searching algorithm is used to plan and expand in the state spaces of executable working-modes. In the end, a sequence of working-mode under the condition of least cost is output, and thereby the task requirement of exploration at specified location is satisfied.