基于人工势场法的月球表层采样装置避障规划

Lunar Surface Sampling Device Collision Avoidance Planning Based on Artificial Potential Field Method

表层采样技术是获取地外天体土壤样品的重要手段,为在月表复杂地形、不确定着陆姿态、不规则器表包络约束下,快速获取安全的表层采样动态轨迹,文章根据四自由度表层采样装置设计,分析了工作过程中的正逆运动学关系;根据表层采样装置动、静态目标点运动要求,将约束空间分解为有效障碍检测区与不可达集,进行表层采样避障规划;为加快规划速度,针对表层采样装置瞬态构型构建了动态障碍检测区、动态不可达集;结合人工势场法提出了避障规划算法。对典型姿态下表层采样过程的避障规划仿真表明,该算法可实现约束条件下的表层采样轨迹规划,并对表层采样装置适应性设计提供支持。

The surface It is a key technology for uncertain landing attitude degree-of-freedom surface sampling technology is an important method for getting soil sample. collision avoidance trajectory planning with complex lunar terrain, and irregular lunar probe envelope. According to the design of four sampling device, kinematics and inverse kinematics were analyzed. Considering the constraints of dynamic and static object points, the restriction space was divided into available collision detectability area and unreachable set. To expedite the planning speed, the dynamic available collision detectability area and unreachable set were introduced to the artificial potential field method. And the collision avoidance planning algorithm was proposed. The simulation result proves that algorithm is effective for surface sampling trajectory planning, and it can be used to support surface sampling design.