Non-Uniform Constraints Processing for Multi-Node Flexible Lander

To address the issue of non-uniform constraints in the cooperative descent trajectory planning of the novel multi-node flexible lander, a distributed optimization method based on control barrier functions is proposed. This method requires only relative distance information between nodes to solve the conflict-free descent trajectories for each node. The effectiveness of the proposed method is demonstrated through simulations of two typical scenarios of cooperative descent of the multi-node flexible lander. This approach offers a new perspective for addressing the non-uniform constraints problem of the multi-node flexible lander.