The agent in colored obstacle image and binary obstacle image,obtained from real terrain elevation graph,assumes as learning and controlled object,whose control parameters are projected to the lunar rover body coordinate system to control the real rover.

• 由月球地形高程图得到当地水平面下二色障碍图及着色障碍图,利用月球车代理体在障碍图及着色障碍图中进行避障学习与控制,将获得的控制量投影到月球车体坐标系下得到真实地形上的控制量,达到避障控制与运动规划的目的。