适应于障碍物真实结构的航天器集群避障运动控制

Spacecraft Cluster Obstacle Avoidance Control Adapted to the Specific Structure of Obstacle

基于人工势场法,研究了适应于空间障碍物真实结构的航天器集群避障运动控制问题。所建立的适应于空间障碍物形状的障碍物势场模型由基于距离度量的基本几何单元势场构成。然后为航天器集群设计了一种避障运动控制律,并对闭环系统稳定性以及避障效果进行了理论分析。最后通过具体的编队形成运动仿真案例,验证了控制律所能实现的状态跟踪和碰撞规避效果。本文设计的避障方法仅利用个体相对于邻近障碍物的位置和速度信息,适应于空间障碍物信息不完全已知的现实应用需求。

In this paper,the obstacle avoidance motion control of the spacecraft cluster adapted to the specific structure of the obstacle is studied,which is based on the artificial potential field(APF)method.The artificial potential of the obstacle is composed of those of fundamental geometric elements based on the calculation of distances.Then,a target tracking control law with collision avoidance is designed,which is associated with the stability of the closed-loop system proved.Finally,a formation motion scenario is simulated to verify the target tracking and collision avoidance effects of the control law.The results of applying obstacle avoidance method in this paper satisfies the actual situation where the information of obstacles is not completely known,and it only relies on the position and velocity data of the individuals relative to the nearest obstacles.