| 引用本文: | 翟光,梁斌,李成.空间飞网捕获机器人交会轨迹规划研究[J].哈尔滨工业大学学报,2010,42(9):1356.DOI:10.11918/j.issn.0367-6234.2010.09.003 |
| ZHAI Guang,LIANG Bin,LI Cheng.Proximity trajectory planning for net-based space robotic system[J].Journal of Harbin Institute of Technology,2010,42(9):1356.DOI:10.11918/j.issn.0367-6234.2010.09.003 |
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| 摘要: |
| 针对空间飞网捕获机器人在近距离接近待捕获目标过程中如何有效的避免与目标发生碰撞,并尽量减少轨道机动的燃料消耗等关键问题,基于被动安全轨迹思想,设计了一种多脉冲飞掠型安全接近轨迹,使系统在掠过目标过程当中弹射飞网并捕获目标,且能够避免任意故障情况下碰撞的发生;结合航天器相对运动的特点,给出了安全轨迹的不等式约束条件,并以速度脉冲增量最优为目标函数,采用线性规划方法建立了多脉冲飞掠型安全轨迹的数学规划模型,最后通过数学仿真验证了规划方法的正确性和规划轨迹的安全性. |
| 关键词: 空间飞网捕获机器人 防碰撞 交会轨迹 线性规划 |
| DOI：10.11918/j.issn.0367-6234.2010.09.003 |
| 分类号:TP242 |
| 基金项目:国家自然科学基金资助项目(60805033) |
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| Proximity trajectory planning for net-based space robotic system |
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ZHAI Guang,LIANG Bin,LI Cheng
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1.Control Science and Egineering Department,Harbin Institute of Technology,Harbin,150001,China;2.Dept.of Spacecraft Design,Beijing Institute of Technology,Beijing 100081,China)
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| Abstract: |
| Aimed at the problems of ensuring the approaching safety of net-based space robotic system and reducing fuel consumption by trajectories plannings during proximity maneuver to the target,according to the passive safety concept,the multi-pulses flying-by approaching trajectory is designed for thruster with the consideration of collision avoidance under relative measurement failures,and the trajectory enables the robotic system to perform the capture operation when passing by the target.Based on the relative dynamics of the spacecrafts,the flying-by approaching trajectory planning model is established with safety inequality constraints,and the solution is achieved by applying linear programming method with velocity increment optimization.Finally,the rationality and trajectory safety are verified by a series of simulations. |
| Key words: net-based space robotic system collision avoidance proximity trajectory linear programming |
