Wide-range routing method for lunar exploration rovers using multi-objective optimization

This paper presents a wide-range routing method for multiple rovers deployed lunar polar exploration mission. In the mission scenario considered in this paper, points are divided into several sets of to be assigned rovers. Subsequently, routes between generated each rover. assignment and problems well known as Traveling Salesman Problem (mTSP). The aims minimize two objective functions: sum standard deviation operation time among problem is then subject multi-objective mTSP (MOmTSP). Therefore, proposed composed three-step procedure solving MOmTSP. First, k-means algorithm divides an area regions number with space-filling curve 2-opt determines order region. A local path planner generates feasible points. simulation results using 80 cases statistically analyzed. We confirm that solves optimization by finding can equalize rover's their deviations.