摘要
研究了星载设备经受动态环境的多种几何约束和动力学约束时,航天器姿态机动历程的星上规划方法。将完整姿态映射为三维姿态描述空间中的点,姿态路径的规划问题转化为中间节点的规划。随机搜索空间中的一组节点,在相邻节点间采用施加动力学约束的Euler转动姿态制导律,并考查Euler转动过程中的几何约束。用快速搜索随机树方法搜索到可行解,再利用姿态空间特性对路径加以优化。仿真显示算法能在大范围内快速得到可行解,优化措施有助缩短机动时间。离散化的节点规划保证了复杂约束情况下解的有效性,并具有概率完备性。
For spacecraft suffering from multiple celestial constraints in time-varying space environment, along with intrinsic dynamics constraints, an on board attitude maneuver planning was studied. The full attitude was mapped to a point described in three-dimensional attitude space. The attitude path planning was then transformed to sequent plannings of intermediate nodes. A set of nodes were randomly searched in the attitude space. For the Euler rotation between two adjacent nodes, an attitude guidance law with built-in dynamics constraints drove the motion, and the geometry constraints were checked. A feasible path was found using rapidly exploring random trees, and was subsequently optimized utilizing features of the attitude space. Simulations show that the algorithm can rapidly find a valid path in large-scale space, and the optimization procedure aids to reduce the maneuver time-span. The discrete node planning guarantees availability of valid solution, and exhibits probabilistic completeness.
出处
《航空学报》
EI
CAS
CSCD
北大核心
2007年第5期1091-1097,共7页
Acta Aeronautica et Astronautica Sinica
基金
国家"863"计划(2005AA735080)
关键词
飞行器控制
路径规划
随机搜索
运动优化
姿态机动
spacecraft control
path planning
random search
motion optimization
attitude maneuver
