标题： 行星探测车在混合RTG-太阳能供电下的能量约束导航 显示英文标题

标题： Energy-Constrained Navigation for Planetary Rovers under Hybrid RTG-Solar Power

摘要： 未来行星探测车必须在混合电源输入下长时间运行，该电源结合了稳定的放射性同位素热电发电机(RTG)输出与可变的太阳能光伏(PV)可用性。 虽然在电池限制下对空中和水下机器人进行了能量感知规划的研究，但针对地面探测车的研究很少明确建模功率流或强制瞬时功率约束。 经典地形感知规划器强调坡度或可行驶性，轨迹优化方法通常专注于几何平滑性和动态可行性，而忽略了能量可行性。 我们提出了一种能量约束的轨迹规划框架，在混合RTG-太阳能输入下，显式地整合了平移、旋转和阻力功率的物理模型以及基础子系统负载。 通过将累积能量预算和瞬时功率约束纳入基于SE(2)的多项式轨迹优化，该方法确保轨迹同时具有平滑性、动态可行性和功率合规性。 在类似月球地形的仿真结果表明，我们的规划器生成的轨迹峰值功率在规定限制的0.55%以内，而现有方法超过限制超过17%。 这证明了一种有原则且实用的方法，用于长期行星任务的能量感知自主性。 显示英文摘要

摘要： Future planetary exploration rovers must operate for extended durations on hybrid power inputs that combine steady radioisotope thermoelectric generator (RTG) output with variable solar photovoltaic (PV) availability. While energy-aware planning has been studied for aerial and underwater robots under battery limits, few works for ground rovers explicitly model power flow or enforce instantaneous power constraints. Classical terrain-aware planners emphasize slope or traversability, and trajectory optimization methods typically focus on geometric smoothness and dynamic feasibility, neglecting energy feasibility. We present an energy-constrained trajectory planning framework that explicitly integrates physics-based models of translational, rotational, and resistive power with baseline subsystem loads, under hybrid RTG-solar input. By incorporating both cumulative energy budgets and instantaneous power constraints into SE(2)-based polynomial trajectory optimization, the method ensures trajectories that are simultaneously smooth, dynamically feasible, and power-compliant. Simulation results on lunar-like terrain show that our planner generates trajectories with peak power within 0.55 percent of the prescribed limit, while existing methods exceed limits by over 17 percent. This demonstrates a principled and practical approach to energy-aware autonomy for long-duration planetary missions.