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基于Frenet和改进人工势场的在轨规避路径自主规划

刘冰雁 叶雄兵 方胜良 刘怀兴 贾珺

刘冰雁, 叶雄兵, 方胜良, 等 . 基于Frenet和改进人工势场的在轨规避路径自主规划[J]. 北京航空航天大学学报, 2021, 47(4): 731-741. doi: 10.13700/j.bh.1001-5965.2020.0169
引用本文: 刘冰雁, 叶雄兵, 方胜良, 等 . 基于Frenet和改进人工势场的在轨规避路径自主规划[J]. 北京航空航天大学学报, 2021, 47(4): 731-741. doi: 10.13700/j.bh.1001-5965.2020.0169
LIU Bingyan, YE Xiongbing, FANG Shengliang, et al. Autonomous planning of on-orbit evasion path based on Frenet and improved artificial potential field[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(4): 731-741. doi: 10.13700/j.bh.1001-5965.2020.0169(in Chinese)
Citation: LIU Bingyan, YE Xiongbing, FANG Shengliang, et al. Autonomous planning of on-orbit evasion path based on Frenet and improved artificial potential field[J]. Journal of Beijing University of Aeronautics and Astronautics, 2021, 47(4): 731-741. doi: 10.13700/j.bh.1001-5965.2020.0169(in Chinese)

基于Frenet和改进人工势场的在轨规避路径自主规划

doi: 10.13700/j.bh.1001-5965.2020.0169
详细信息
    作者简介:

    刘冰雁 男, 博士研究生, 助理研究员。主要研究方向: 航天器轨道任务智能规划

    叶雄兵 男, 博士, 研究员, 博士生导师。主要研究方向: 运筹学

    方胜良 男, 博士, 教授, 博士生导师。主要研究方向: 空间工程

    刘怀兴 男, 博士研究生, 讲师。主要研究方向: 军事管理、信息工程

    贾珺 男, 博士, 副研究员。主要研究方向: 运筹学

    通讯作者:

    刘冰雁, E-mail: bingyanl@outlook.com

  • 中图分类号: V221+.3;TB553

Autonomous planning of on-orbit evasion path based on Frenet and improved artificial potential field

More Information
  • 摘要:

    在轨道间机动的航天器规避空间目标,需兼顾沿转移轨道飞行的绝对运动和规避空间目标的相对运动,路径自主规划难度较大且目前国内外公开研究成果较少。针对上述问题,提出了一种将Frenet坐标系与改进人工势场相结合的在轨规避路径自主规划方法。首先,构建Frenet坐标系表述空间规避运动,解决了路径规划中航天器与既定转移轨道相对位置不易表述的难题,实现了空间规避运动的简便表示;其次,改进人工势场函数、调整势场作用区域,避免了传统人工势场法存在过早轨迹偏离以及局部震荡现象,实现了对空间目标的自主规避;最后,考虑规避安全、轨道保持、制动时效以及燃料消耗因素构建全局优化函数,能够满足不同任务的需求与偏好,实现了沿转移轨道飞行的最小偏移与快速恢复。算法比对与算例求解表明:所提方法应用优势明显,路径平滑、偏移量小,满足航天器规避空间目标的路径规划需求。

     

  • 图 1  基于Frenet坐标系的航天器空间运动

    Figure 1.  Space motion of spacecraft based on Frenet coordinate system

    图 2  航天器规避机动人工势场示意图

    Figure 2.  Schematic diagram of artificial potential field of spacecraft evasive maneuver

    图 3  屏障规避问题的不同算法求解效果

    Figure 3.  Different algorithms to solve the problem of barrier evasion

    图 4  不同全局优化权重下的航天器机动规避路径

    Figure 4.  Maneuvering evasion path of spacecraft under different global optimization weights

    图 5  不同全局优化权重下的横向偏移加速度

    Figure 5.  Lateral deviation acceleration under different global optimization weights

    图 6  航天器沿最优路径规避空间碎片的局部效果

    Figure 6.  Local effects of spacecraft evading space debris along an optimal path

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出版历程
  • 收稿日期:  2020-04-30
  • 录用日期:  2020-08-07
  • 网络出版日期:  2021-04-20

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