摘要
针对航天器在轨服务背景,研究了服务航天器在复杂约束条件下实现飞越式接近非合作目标的运动规划方法。根据飞越式接近过程对航天器运动状态调整的快速性、精确性要求,提出一种由改进的快速搜索随机树运动规划算法与进化算法结合的两级规划方法,并对复杂约束条件下航天器按指定时间到达指定运动状态过程进行规划。仿真结果表明:该法在保证规划效率的同时能得到平滑和优化的运动轨迹,可解决此类高维非线性运动规划问题。
Aim to the on-orbit servicing,the motion planning on-orbit servicing spacecraft approaching an uncooperative target with fly-by method under complex constraints was studied in this paper.According to the state translation need to be fast and accurate,a two-stage motion planning method with the combination of improved rapidly-exploring random tree planner and evolution algorithms was put forward.And it was used for the spacecraft to get to appointed motion state at appointed time with complex constraints.The simulation results showed that the method could satisfy the requirement of high-dimensional nonlinear plan problem and feasible motion trajectory was achieved with a certain extent of computational efficiency.
出处
《上海航天》
2015年第3期16-21,62,共7页
Aerospace Shanghai
基金
国家自然科学基金(10702078)
校基础预研项目(JC13-01-08)
关键词
在轨服务
飞越式接近
轨迹规划
快速搜索随机树
On-orbit servicing
Fly-by approach
Path planning
Rapidly-exploring random tree
