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Lunar Planner

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

Visualization

Getting Started

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).

Installation

Normal Installation

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) or env/Scripts/Activate (Windows)
  • Installing dependencies: pip install -r requirements.txt
  • Installing the Lunar Planner package: pip3 install -e .

Executables (Ubuntu, Windows)

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/ubuntu or git checkout executables/windows
  • Download the executables from Git Large File Storage: pip install git-lfs && git lfs pull
  • You will now find two files PathCreator and PathAnalysis in the main directory, which you can run by clicking on them.

Usage

Entering and Leaving the Virtual Environment

  • Activate with source env/bin/activate
  • Deactivate with deactivate

Run GUI

  • 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

Wiki

For more detailed information, please refer to our wiki, which includes:

Citation

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}
}