Motion planning for mechanical of lunar rover to surveying

This paper improved the planning for mechanical at 3-DOF lunar rover in two aspect. First, motion planning by SA* heuristic algorithm, which minimize the change of configuration, enhance the security and efficiency of the surveying for mechanical of lunar rover in-site. Second, we in delaunay triangulation the environmental point cloud in collision detection, which interpret the problem of collision detection to position relationship between line and plane.