面向月球基地设备交互场景的目标检测与路径规划算法研究

With the rapid advancement of the international lunar scientific research station program, research on lunar base-related technologies has received widespread attention. This article focuses on the application background of autonomous contact interaction between different devices in the lunar base scenario. Considering that different devices need to accurately identify each other when performing autonomous contact interaction and plan a smooth and optimal route to ensure smooth round-trip activities, a lunar base simulation environment based on Webots is built to conduct target detection and path planning experiments. The interactive device equipped with high-precision RGB cameras in the front and rear is used as the carrier to perform target detection in the lunar base scenario based on TPH-YOLOv5. In addition, a path planning algorithm based on Bidirectional RRT for interactive devices in the lunar base scenario is designed and implemented to ensure the smooth progress of related work of interactive devices in the lunar base environment. Simulation results show that the target detection and path planning algorithms used can achieve the expected functionality.