Constraint Attitude Path Generation of Spacecraft based on Rapidly Exploring Random Tree and Quadratic Programming
- Paper number
IAC-11,A3,4,13,x10350
- Author
Mr. Xiaojun Cheng, School of Astronautics, Harbin Institute of Technology, China
- Coauthor
Dr. Rui Xu, Beijing Institute of technology, China
- Coauthor
Mr. Cui Hutao, Harbin Institute of Technology, China
- Year
2011
- Abstract
During the lifetime of spacecraft, a lot of attitude maneuver operations are necessary for mission requirement. If a special sensor, which can’t point to sun or other bright objects, is installed on the spacecraft, a least separation angle between direction of sensor and the bright object must be kept. Therefore, the attitude free space is restricted and the attitude should not slew arbitrarily. The analogous case exists for communication with earth by antenna and power supply by solar panel. The ability to autonomously control attitude maneuver under geometric constraints is one of the key technologies in some future space missions. This paper proposed an attitude slew maneuver path generation algorithm, which is based on Rapidly Exploring Random Tree (RRT) and Quadratic programming(QP). Due to the mature technology of uniform sample in attitude space, the RRT, as a global planner, freely and incrementally expands to some chosen uniform sample point in a greedy pattern. By this means, the geometric constraints can be well satisfied and the tree can expand fast as well as terminate in finite iterations. Meanwhile, the local planner reshapes the dynamics to linear constraints of quadratic programming problem. In each step, only a trivial numerical procedure is needed although it assumes the main computation cost. Consequently, the geometric and dynamics constraints are met respectively, and the maneuver path of kinodynamics is generated. Simulation results and analysis validate the advantages of the proposed algorithm.
- Abstract document
- Manuscript document
IAC-11,A3,4,13,x10350.pdf (🔒 authorized access only).
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