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葛丹桐, 朱圣英. 小行星复杂形貌自适应附着轨迹动态规划方法[J]. 深空探测学报(中英文), 2021, 8(2): 132-139. DOI: 10.15982/j.issn.2096-9287.2021.20200072
引用本文: 葛丹桐, 朱圣英. 小行星复杂形貌自适应附着轨迹动态规划方法[J]. 深空探测学报(中英文), 2021, 8(2): 132-139. DOI: 10.15982/j.issn.2096-9287.2021.20200072
GE Dantong, ZHU Shengying. Asteroid Landing Trajectory Dynamic Planning Method with Complex Topography Adaptability[J]. Journal of Deep Space Exploration, 2021, 8(2): 132-139. DOI: 10.15982/j.issn.2096-9287.2021.20200072
Citation: GE Dantong, ZHU Shengying. Asteroid Landing Trajectory Dynamic Planning Method with Complex Topography Adaptability[J]. Journal of Deep Space Exploration, 2021, 8(2): 132-139. DOI: 10.15982/j.issn.2096-9287.2021.20200072

小行星复杂形貌自适应附着轨迹动态规划方法

Asteroid Landing Trajectory Dynamic Planning Method with Complex Topography Adaptability

  • 摘要: 针对小行星表面复杂崎岖形貌对附着安全构成的威胁,提出一种形貌自适应附着轨迹动态规划方法。基于构建的附着过程多目标最优路径点序列,结合障碍检测信息在线评估探测器受到的碰撞威胁大小,当障碍与标称附着轨迹产生冲突时,通过设计最少路径点局部重规划方法,实现路径点鲁棒跟踪与局部避障轨迹动态规划的自主切换,增强探测器对复杂形貌环境的自适应能力,提高小行星附着任务安全性。

     

    Abstract: Considering the safety threats posed by the complicated topography on the asteroid surface, a dynamic planning method for topography-adaptive landing trajectory is proposed. In this paper, a multi-objective optimal waypoint sequence is developed for the landing process. Based on the hazard detection information, an online evaluation of the collision threats is carried out. To solve the conflicts between hazards and the nominal trajectory, a minimum waypoint re-planning method is designed, which realizes an autonomous switch between waypoint robust tracking and dynamic planning of the local hazard avoidance trajectory during descent. By employing the proposed method, adaptability to the complex topography environment of the lander is enhanced and the asteroid landing mission safety is improved.

     

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