A Control Method of Sleep-Reboot in the Complex Lunar Far-Side Environment of Yutu-2

A control method of sleep-reboot in complex lunar far-side environment is proposed in this paper for solving Yutu-2 lunar rover sleep-reboot control problem under contraints conditions of complex terrain and relay communication. A skyline sensing method based on the sequence imaging of the monocular camera is proposed to realize the occlusion analysis, a lunar attitude prediction method is proposed to realize the calculation of sleepable attitude and control strategy for a given location, a sleepability analysis index and a visualization comprehensive analysis method are proposed to assist in finding alternative sleep locations. Finally, the implementation mode of sleep-reboot on-orbit is designed and presented. The Yutu-2 on-orbit implementation performance proves the validity of the control method and the effectiveness of the process.