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Deep space detector big-angle flexible path autonomic generating method

A deep space detector, large-angle technology, applied in instruments, non-electric variable control, position/direction control, etc.

Inactive Publication Date: 2006-10-25
HARBIN INST OF TECH
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Problems solved by technology

[0009] The technical problem to be solved by the present invention is to overcome the above-mentioned difficulties in the prior art, and provide a method that can autonomously complete the large-angle maneuvering of the detector. The realization method mainly includes: judging the environment and Automatically generate obstacles. Based on these obstacles, the path of attitude maneuvering is generated through planning algorithm. Here, the planning algorithm adopts the improved RRT algorithm proposed by us. In the expansion of random tree, the large-angle maneuvering belonging to three-dimensional planning is made possible by the single-axis random algorithm. The planning problem is simplified into a two-dimensional programming problem, and heuristic factors are introduced to speed up the convergence of the algorithm

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  • Deep space detector big-angle flexible path autonomic generating method
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  • Deep space detector big-angle flexible path autonomic generating method

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specific Embodiment approach 1

[0052] Specific implementation mode 1: In this implementation mode, the deep space probe can independently generate a large-angle maneuvering path according to the following steps:

[0053] 1. Obstacles are generated autonomously

[0054] In large-angle maneuvers, the restrictions on the external environment such as devices and loads must be considered. The main external environmental constraints can be divided into two types—pointing constraints and integral constraints. Pointing constraints require that a certain vector direction of the detector cannot enter or leave a certain area. , if the change of constraints during the maneuver is neglected, the obstacle area of ​​this type of constraints is a cone, and we only need to limit the relevant vector R i with the axis direction R of the cone c The included angle is fine, which can be expressed as:

[0055] R i · R c min or R i · R c >cosα max .

[0056] The integral constraint is a time-varying constraint...

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Abstract

The present invented method contains through given decetor trajectory information to proceed environment judgement and automatically generating barrier, based these barrier through planning algorithm to generate stance mobile route, wherein said planning algorithm adopting submissive improved RRT algorithm, in stochastic tree expansion through single axle stochastic algorithm, simplifying three-dimension programming wide angle mobile planning problem into two-dimension planning problem, and leading-in illumine factor speeding-up convergence of algorithm, and utilizing forward search to proceed optimizing to programmed route. The present invention has strong interactivity, visual, and immediacy etc properties.

Description

technical field [0001] The invention relates to a method for realizing the autonomous generation of a large-angle maneuvering path by a deep space probe. Background technique [0002] Deep space exploration is one of the focuses of the world's aerospace powers in the 21st century. my country also proposed in the "China Aerospace" white paper that it will "carry out pre-research on deep space exploration focusing on lunar exploration." Due to the long distance of the detection target and the uncertain flight environment, the control and operation of deep space probes have real-time and reliability problems. The application of autonomous technology is an effective way to solve these problems. It constructs a software system on the detector to complete the functions of detector task planning, activity decomposition execution, fault diagnosis, fault recovery, etc., so that the operation and control of the detector form a real Closed loop on the star. Planning technology is one...

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Application Information

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IPC IPC(8): G05D1/00
Inventor 徐瑞崔祜涛崔平远徐文明史雪岩
Owner HARBIN INST OF TECH
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