面向小行星柔性附着的目标导向姿态规划

Research on Asteroid Flexible Landing with Object-Oriented Attitude Planning

为解决小行星柔性附着约束复杂、姿态机动控制难度大、机动路径规划求解困难的问题,提出一种目标导向小行星柔性附着姿态机动规划方法,通过构建节点平面耦合动力学模型,实现对柔性3节点探测器姿态描述和动力学约束的表征。设计局部优化扩展策略对快速扩展随机树(Rapidly-exploring Random Trees,RRT)算法进行改进,以目标姿态的空间距离为优化函数,结合柔性体姿态动力学模型构建二次规划问题,增强沿姿态路径机动的目的性。并通过数字仿真进行验证,结果表明提出的方法与传统启发式规划方法相比计算消耗时间少,且对姿态机动路径长度进行了优化,可实现小行星探测器柔性附着过程中姿态机动的需求。

In order to solve the problem of attitude maneuvering control and attitude planning for the flexible probe under multiple constraints in the asteroid flexible attachment scenario,in this paper,a goal-oriented attitude planning method for an asteroid-attached flexible probe was proposed.By constructing a node-plane coupling dynamic model,the attitude description and dynamic constraint characterization of the flexible three-node probe were realized.A local optimization expansion strategy was designed to improve the RRT algorithm.The optimization objective was to shorten the distance to the target attitude.The quadratic programming problem was constructed by combining with the attitude dynamics model of the flexible body to enhance the purpose of maneuvering along the attitude path.The simulation results show that compared with the traditional heuristic planning method,the proposed method takes less time to calculate,optimizes the attitude maneuver path length,and can meet the attitude maneuver requirements during the flexible landing process of the asteroid probe.It provides support for the implementation of the small body project.