| Citation: | Liu Y Y，Li G，Ye Z，et al. Spacecraft attitude reorientation with dynamic forbidden zones based on a teardrop-shaped artificial potential function[J]. Journal of Beijing University of Aeronautics and Astronautics，2026，52（8）：2801-2816 （in Chinese）
|
To address the challenge of spacecraft navigating multiple dynamic forbidden-pointing zones, this study proposes an attitude trajectory planning method based on a teardrop-shaped repulsive artificial potential function. This paper examines situations where a low-orbiting satellite must avoid light reflections from a high-orbiting satellite and where the surface of a deep space probe must avoid the direction of micrometeoroid impacts, in contrast to the conventional assumption that celestial bodies are static forbidden zones. Based on the high-speed characteristics of micrometeoroids and the angular velocity differences between satellites, a dynamic forbidden zone model is constructed. Building on the traditional uniform repulsive circle potential function, an innovative teardrop potential function is proposed, enabling the potential field to dynamically adapt to the approach angle between the spacecraft and the forbidden zone. A motion trend function is also introduced to characterize the relative motion characteristics. Furthermore, a short-path detour strategy with adjustable repulsive potential function coefficients is designed, enabling the spacecraft to flexibly switch obstacle avoidance directions based on actual needs. According to simulation results, this approach greatly enhances spacecraft predictability and obstacle avoidance performance in complex and dynamic settings, offering significant theoretical and engineering application value for attitude control under dynamic constraints.
| [1] |
Cervone A, Topputo F, Speretta S, et al. LUMIO: a CubeSat for observing and characterizing micro-meteoroid impacts on the Lunar far side[J]. Acta Astronautica, 2022, 195: 309-317.
|
| [2] |
徐瑞, 李朝玉, 朱圣英, 等. 深空探测器自主规划技术研究进展[J]. 深空探测学报, 2021, 8(2): 111-123.
Xu R, Li Z Y, Zhu S Y, et al. Research progress of autonomous planning technology for deep space probes[J]. Journal of Deep Space Exploration, 2021, 8(2): 111-123(in Chinese).
|
| [3] |
Chen R, Dong M N, Bai Y Z, et al. Trajectory planning and control of spacecraft avoiding dynamic debris swarm[J]. Aerospace Science and Technology, 2024, 151: 109273.
|
| [4] |
马广富, 柳明旻, 王靓玥, 等. 考虑多禁止指向区域的航天器反步姿态机动控制[J]. 宇航学报, 2020, 41(8): 1042-1048.
Ma G F, Liu M M, Wang L Y, et al. Spacecraft backstepping attitude control considering multiple forbidden pointing regions[J]. Journal of Astronautics, 2020, 41(8): 1042-1048(in Chinese).
|
| [5] |
Chu X Y, Zhang J R, Lu S, et al. Optimised collision avoidance for an ultra-close rendezvous with a failed satellite based on the Gauss pseudospectral method[J]. Acta Astronautica, 2016, 128: 363-376.
|
| [6] |
许丹丹, 张进. 基于改进人工势函数的航天器近距离安全控制方法[J]. 力学学报, 2020, 52(6): 1581-1589.
Xu D D, Zhang J. A collision-avoidance control algorithm for spacecraft proximity operations based on improved artificial potential function[J]. Chinese Journal of Theoretical and Applied Mechanics, 2020, 52(6): 1581-1589(in Chinese).
|
| [7] |
胡庆雷, 邵小东, 杨昊旸, 等. 航天器多约束姿态规划与控制: 进展与展望[J]. 航空学报, 2022, 43(10): 395-423.
Hu Q L, Shao X D, Yang H Y, et al. Spacecraft attitude planning and control under multiple constraints: Review and prospects[J]. Acta Aeronautica et Astronautica Sinica, 2022, 43(10): 395-423(in Chinese).
|
| [8] |
徐瑞, 朱哲, 李朝玉, 等. 航天器姿态机动规划技术研究进展[J]. 宇航学报, 2023, 44(2): 155-167.
Xu R, Zhu Z, Li Z Y, et al. Research progress of spacecraft attitude maneuver planning technology[J]. Journal of Astronautics, 2023, 44(2): 155-167(in Chinese).
|
| [9] |
Chi B R, Hu Q L. Saturated explicit reference governor for spacecraft constrained attitude reorientation control[J]. Aerospace Science and Technology, 2024, 145: 108874.
|
| [10] |
Kjellberg H C, Lightsey E G. Discretized constrained attitude pathfinding and control for satellites[J]. Journal of Guidance, Control, and Dynamics, 2013, 36(5): 1301-1309.
|
| [11] |
Lee D Y, Gupta R, Kalabić U V, et al. Geometric mechanics based nonlinear model predictive spacecraft attitude control with reaction wheels[J]. Journal of Guidance, Control, and Dynamics, 2016, 40(2): 309-319.
|
| [12] |
Sun C C, Dai R. Spacecraft attitude control under constrained zones via quadratically constrained quadratic programming[C]//Proceedings of the AIAA Guidance, Navigation, and Control Conference. Reston: AIAA, 2015.
|
| [13] |
Hua B, Sun S G, Wu Y H, et al. A spacecraft attitude manoeuvre planning algorithm based on improved policy gradient reinforcement learning[J]. Journal of Navigation, 2022, 75(3): 662-684.
|
| [14] |
金磊, 杨绍龙. 基于强化学习的航天器姿态预设性能容错控制[J]. 北京航空航天大学学报, 2024, 50(8): 2404-2412.
Jin L, Yang S L. Fault-tolerant control of spacecraft attitude with prescribed performance based on reinforcement learning[J]. Journal of Beijing University of Aeronautics and Astronautics, 2024, 50(8): 2404-2412(in Chinese).
|
| [15] |
Xue W H, Wang B C, Huang X X, et al. Spacecraft attitude maneuver planning with multi-sensor pointing constraints using improved RRT-star algorithm[J]. Advances in Space Research, 2023, 72(5): 1485-1495.
|
| [16] |
Xia K W, Wang J N, Zou Y, et al. Data-driven identifier-actor-critic learning for cooperative spacecraft attitude tracking with orientation constraints[J]. Automatica, 2025, 173: 112035.
|
| [17] |
岳程斐, 霍涛, 陈雪芹, 等. 航天器姿态受限的协同势函数族设计方法[J]. 自动化学报, 2024, 50(1): 54-65.
Yue C F, Huo T, Chen X Q, et al. Synergistic potential functions for constrained attitude control of rigid spacecraft[J]. Acta Automatica Sinica, 2024, 50(1): 54-65(in Chinese).
|
| [18] |
Li Q, Yuan J P, Zhang B, et al. Disturbance observer based control for spacecraft proximity operations with path constraint[J]. Aerospace Science and Technology, 2018, 79: 154-163.
|
| [19] |
Hua B, He J, Zhang H, et al. Spacecraft attitude reorientation control method based on potential function under complex constraints[J]. Aerospace Science and Technology, 2024, 144: 108738.
|
| [20] |
Munoz J, Boyarko G, Fitz-Coy N. Rapid path-planning options for autonomous proximity operations of spacecraft[C]//Proceedings of the AIAA/AAS Astrodynamics Specialist Conference. Reston: AIAA, 2010.
|
| [21] |
Zappulla R, Park H, Virgili-Llop J, et al. Real-time autonomous spacecraft proximity maneuvers and docking using an adaptive artificial potential field approach[J]. IEEE Transactions on Control Systems Technology, 2019, 27(6): 2598-2605.
|
| [22] |
关涛, 李彬, 武云丽. 指向约束下有限时间航天器姿态重定向控制[J]. 空间控制技术与应用, 2024, 50(3): 52-59.
Guan T, Li B, Wu Y L. Finite-time spacecraft attitude reorientation control under pointing constrains[J]. Aerospace Control and Application, 2024, 50(3): 52-59(in Chinese).
|
| [23] |
Mancini M, Ruggiero D. Artificial potential field and sliding mode control for spacecraft attitude maneuver with actuation and pointing constraints[J]. Control Engineering Practice, 2025, 162: 106373.
|
| [24] |
Menegatti D, Giuseppi A, Pietrabissa A. Model predictive control for collision-free spacecraft formation with artificial potential functions[C]//Proceedings of the 30th Mediterranean Conference on Control and Automation. Piscataway: IEEE Press, 2022: 564-570.
|
| [25] |
Hughes P C. Spacecraft attitude dynamics[M]. New York: Courier Corporation, 2012.
|
| [26] |
Wertz J R. Spacecraft attitude determination and control[M]. Dordrecht: Springer Science & Business Media, 2012.
|
| [27] |
Yang Y. Spacecraft attitude determination and control: quaternion based method[J]. Annual Reviews in Control, 2012, 36(2): 198-219.
|
| [28] |
Duan C, Hu Q L, Yang H Y, et al. Constrained control of underactuated spacecraft using artificial potentials[J]. IEEE Transactions on Industrial Electronics, 2024, 71(11): 14803-14812.
|
| [29] |
Shen Q, Yue C F, Goh C H. Velocity-free attitude reorientation of a flexible spacecraft with attitude constraints[J]. Journal of Guidance, Control, and Dynamics, 2017, 40(5): 1293-1299.
|
| [30] |
Qiu S, Cao X B, Wang F, et al. Deep space exploration orbit design departing from circumlunar orbit of lunar base[J]. Aerospace Science and Technology, 2019, 95: 105505.
|
| [31] |
Hu Q L, Chi B R, Akella M R. Anti-unwinding attitude control of spacecraft with forbidden pointing constraints[J]. Journal of Guidance, Control, and Dynamics, 2018, 42(4): 822-835.
|
| [32] |
Su Y H, Shen S P, Hu Z K, et al. Practical finite-time attitude reorientation control for rigid spacecraft with forbidden pointing constraints and physical limitations[J]. IEEE Transactions on Aerospace and Electronic Systems, 2025, 61(2): 3387-3397.
|
| [33] |
Li B, Wang Y, Zhang K, et al. Constrained feedback control for spacecraft reorientation with an optimal gain[J]. IEEE Transactions on Aerospace and Electronic Systems, 2021, 57(6): 3916-3926.
|
| [34] |
Lee U, Mesbahi M. Feedback control for spacecraft reorientation under attitude constraints via convex potentials[J]. IEEE Transactions on Aerospace and Electronic Systems, 2014, 50(4): 2578-2592.
|
Figures(15) / Tables(2)
Copyright © Journal of Beijing University of Aeronautics and Astronautics
Address: Editorial Department of Journal of Beijing University of Aeronautics and Astronautics, 37 Xueyuan Road, Haidian District, Beijing Post Code: 100191 Email: jbuaa@buaa.edu.cn
Supported by:
Beijing Renhe Information Technology Co., Ltd.
DownLoad:
