Autonomous behavior path planning for lunar rover

This paper deals with a new autonomous behavior path planning method for the lunar rover, which adapts to any obstacles and allows for the real world with large area. The path-planning scheme greatly improves computation geometrics based path planning methods by using a group of adaptive and oriental behaviors which simulate human behaviors for path planning to construct the topological graph of Tangent-Bug automatically and quickly. At the same time, basic terms, definitions and theorems of the method as well as simulation results in the real world are presented.