Spacecraft attitude maneuver planning based on particle swarm optimization
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摘要: 研究航天器在星载设备受多种几何约束情况下,大角度姿态机动时的姿态路径规划问题.采用罗德里格斯参数描述姿态,将姿态机动路径规划问题转化为点机器人的三维路径规划问题.基于粒子群优化技术设计了航天器复杂约束下大角度姿态机动的路径规划算法.数值仿真结果表明,该方法对于复杂约束下航天器姿态机动的运动规划是有效的.Abstract: For spacecraft suffering from multiple celestial constraints in time-varying space enviroment, an on-board large angle attitude maneuver path planning based on particle swarm optimization was studied. The kinematics of the spacecraft was described by Rodrigues parameter. The full attitude was mapped to a point described in three-dimensional attitude space. Then the attitude path planning was transformed to the problem of three dimension path planning for point robots. The large angle attitude maneuver path planning algorithm based on particle swarm optimization for spacecraft with multiple celestial constraints was designed. It is necessary to change the attitude coordinate from the original reference frame to a proper reference frame which is more convenient in calculation for the path planning algorithm. Through the iterative program we can receive the feasible path. Numerical simulation results demonstrate the validity of the method.
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Key words:
- attitude constraints /
- path planning /
- attitude maneuver /
- particle swarm optimization
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