【摘要】 自主姿态大角度机动是自主深空探测器的关键技术之一,而在满足敏感仪器、保持通信链路等约束的情况下实现姿态大角度机动的自主规划与执行是目前面临的一个难题。针对这个问题,提出一种单轴随机扩展算法,该算法采用扩展的方式生成规划路径,并充分利用扩展过程中邻近点的信息,把属于三维构造空间的大角度机动规划问题简化为二维规划问题,从而减少问题求解的搜索空间。最后利用前向搜索方法对初始的规划路径进行优化,并通过算例验证了此方法的可行性。更多还原

【Abstract】 A key technology that facilitates the autonomy of the spacecraft is the capability to autonomously and optimally slew the spacecraft to a desired attitude while operating under a number of constraints referring to sensitive instruments and communication link.A single axis randomized expanding algorithm is proposed to solve the large angle slew maneuvers planning problem.Which reduces the dimension of the configuration space of this problem from 3 to 2 by well utilizing the information of the nearest node during the expanding process.Therefore,it lessens the search space in solving the problem and accelerates the convergence of the algorithm.Finally,optimize the planning result with the forward search method.Simulation example is present and validates the feasibility of the algorithm.更多还原