Namsuk Cho

Abstract Lunar pits and lava tubes hold promise for future human habitation, offering natural protection and stable environments. However, exploring these sites entails challenging terrain, including steep slopes along cave funnels and vertical cliffs. Here, we present a soft, deployable airless wheel to address these challenges. By achieving a high deployment ratio, multiple rovers can be stowed efficiently without sacrificing mobility, thereby improving mission reliability and flexibility.

2. Literature Review Path planning is an optimization problem that plans an optimal path while avoiding collisions with obstacles. There are several common components that most path-planning studies consider. Although each study uses different terminology, the usual components are space, obstacles, and initial and goal states. Space: The space can be an arbitrary two-dimensional space or a specific space such as a warehouse or a road.