In 1957, the launch of the first artificial satellite ushered in a new era for modern space science. The past 50 years' developments in China's space science have witnessed many major missions, and substantial...In 1957, the launch of the first artificial satellite ushered in a new era for modern space science. The past 50 years' developments in China's space science have witnessed many major missions, and substantial progress has been achieved in space science study, exploration technology as well as experiment technology. Strategic Priority Program on Space Science was officially started in 2011. Through both self-developed space science missions and those with international cooperation,it is expected that the innovative breakthroughs will be realized, leapfrog development of related high-tech will be achieved to establish the important strategic status of space science in national development. To sum up, the implementation of the Strategic Priority Program on Space Science will definitely promote the rapid development of China's space science endeavor, making contributions to China's development and the progress of human civilization.展开更多
CASC President Ma Xingrui was interviewed by a Hong Kong magazine recently and talked about the prospects of China's major space projects. Mr. Ma is the deputy Commander-in-Chief of China's Manned Space Progra...CASC President Ma Xingrui was interviewed by a Hong Kong magazine recently and talked about the prospects of China's major space projects. Mr. Ma is the deputy Commander-in-Chief of China's Manned Space Program, Commander-in-Chief of China's Lunar Exploration Program, and Commander-in-Chief of China's new-generation launch vehicles. Mr. Ma said that the LM-5 launch vehicle, with LEO loading capacity of 25t, will carry out its maiden flight around the end of 2014.展开更多
Path planning for space vehicles is still a challenging problem although considerable progress has been made over the past decades.The major difficulties are that most of existing methods only adapt to static environm...Path planning for space vehicles is still a challenging problem although considerable progress has been made over the past decades.The major difficulties are that most of existing methods only adapt to static environment instead of dynamic one,and also can not solve the inherent constraints arising from the robot body and the exterior environment.To address these difficulties,this research aims to provide a feasible trajectory based on quadratic programming（QP） for path planning in three-dimensional space where an autonomous vehicle is requested to pursue a target while avoiding static or dynamic obstacles.First,the objective function is derived from the pursuit task which is defined in terms of the relative distance to the target,as well as the angle between the velocity and the position in the relative velocity coordinates（RVCs）.The optimization is in quadratic polynomial form according to QP formulation.Then,the avoidance task is modeled with linear constraints in RVCs.Some other constraints,such as kinematics,dynamics,and sensor range,are included.Last,simulations with typical multiple obstacles are carried out,including in static and dynamic environments and one of human-in-the-loop.The results indicate that the optimal trajectories of the autonomous robot in three-dimensional space satisfy the required performances.Therefore,the QP model proposed in this paper not only adapts to dynamic environment with uncertainty,but also can satisfy all kinds of constraints,and it provides an efficient approach to solve the problems of path planning in three-dimensional space.展开更多
文摘In 1957, the launch of the first artificial satellite ushered in a new era for modern space science. The past 50 years' developments in China's space science have witnessed many major missions, and substantial progress has been achieved in space science study, exploration technology as well as experiment technology. Strategic Priority Program on Space Science was officially started in 2011. Through both self-developed space science missions and those with international cooperation,it is expected that the innovative breakthroughs will be realized, leapfrog development of related high-tech will be achieved to establish the important strategic status of space science in national development. To sum up, the implementation of the Strategic Priority Program on Space Science will definitely promote the rapid development of China's space science endeavor, making contributions to China's development and the progress of human civilization.
文摘CASC President Ma Xingrui was interviewed by a Hong Kong magazine recently and talked about the prospects of China's major space projects. Mr. Ma is the deputy Commander-in-Chief of China's Manned Space Program, Commander-in-Chief of China's Lunar Exploration Program, and Commander-in-Chief of China's new-generation launch vehicles. Mr. Ma said that the LM-5 launch vehicle, with LEO loading capacity of 25t, will carry out its maiden flight around the end of 2014.
基金supported by National Natural Science Foundation of China (Grant Nos. 61035005,61075087)Hubei Provincial Natural Science Foundation of China (Grant No. 2010CDA005)Hubei Provincial Education Department Foundation of China (Grant No.Q20111105)
文摘Path planning for space vehicles is still a challenging problem although considerable progress has been made over the past decades.The major difficulties are that most of existing methods only adapt to static environment instead of dynamic one,and also can not solve the inherent constraints arising from the robot body and the exterior environment.To address these difficulties,this research aims to provide a feasible trajectory based on quadratic programming（QP） for path planning in three-dimensional space where an autonomous vehicle is requested to pursue a target while avoiding static or dynamic obstacles.First,the objective function is derived from the pursuit task which is defined in terms of the relative distance to the target,as well as the angle between the velocity and the position in the relative velocity coordinates（RVCs）.The optimization is in quadratic polynomial form according to QP formulation.Then,the avoidance task is modeled with linear constraints in RVCs.Some other constraints,such as kinematics,dynamics,and sensor range,are included.Last,simulations with typical multiple obstacles are carried out,including in static and dynamic environments and one of human-in-the-loop.The results indicate that the optimal trajectories of the autonomous robot in three-dimensional space satisfy the required performances.Therefore,the QP model proposed in this paper not only adapts to dynamic environment with uncertainty,but also can satisfy all kinds of constraints,and it provides an efficient approach to solve the problems of path planning in three-dimensional space.
