The Lunar Planner is a tool developed for planetary researchers to simplify mission planning for lunar exploration. This repository includes:
- A path planning tool to create paths for a quadruped robot on the lunar surface
- A path analysis tool to analyze paths and extract interesting statistics
This repo comes with examples for a quadruped robot and three different map locations (Aristarchus Irregular Mare Patch, Aristarchus Central Peak and Herodotus Mons).
Main Contact: Julia Richter ([email protected])
Link to Paper: Link
Documentation: Wiki
The planner is easily compatible with Linux, MacOS and Windows. However, for Windows the binaries of GDAL need to be installed (The installation will give errors, but Chat GPT can help with this).
To install the Lunar Planner with full functionality, follow these steps:
- Cloning the repository:
git clone https://github.com/leggedrobotics/lunar_planner.git - Navigating to the repository:
cd lunar_planner - Creating a virtual environment:
python3.8 -m venv env - Activating the virtual environment:
source env/bin/activate(Linux, MacOS) orenv/Scripts/Activate(Windows) - Installing dependencies:
pip install -r requirements.txt - Installing the Lunar Planner package:
pip3 install -e .
In order to easily try this tool, you can directly download the executables with these steps:
- Cloning the repository:
git clone https://github.com/leggedrobotics/lunar_planner.git - Navigating to the repository:
cd lunar_planner - Switching to branch with executables:
git checkout executables/ubuntuorgit checkout executables/windows - Download the executables from Git Large File Storage:
pip install git-lfs && git lfs pull - You will now find two files
PathCreatorandPathAnalysisin the main directory, which you can run by clicking on them.
- Activate with
source env/bin/activate - Deactivate with
deactivate
- To create a database, run:
python src/user_interface/path_creator.py - To analyze paths, run:
python src/user_interface/path_analysis.py - To create paths manually, run:
python src/user_interface/path_planning_widget.py
For more detailed information, please refer to our wiki, which includes:
If you find this work useful or use it for your research, please consider citing the corresponding work:
@inproceedings{richter2024multi,
title={Multi-Objective Global Path Planning for Lunar Exploration With a Quadruped Robot},
author={Richter, Julia and Kolvenbach, Hendrik and Valsecchi, Giorgio and Hutter, Marco},
booktitle={Proceedings of the 2024 iSpaRo Conference},
year={2024},
organization={IEEE}
}