Path planning for lunar polar exploration mission using linear temporal logic

For path planning of planetary exploration rover travelling toward several points of interest, it is necessary to optimize the order of the exploratory points, and consider various safety features, such as terrain hazards, illumination condition, and communication visibility to the earth. This paper presents a method to obtain optimal path in consideration of the remaining charge of the rover, according to the prospected mission in an environment with time-varying safety features, such as in lunar polar region. We demonstrated the effectiveness of the proposed method in numerical simulations.