Research on Asteroid Flexible Landing with Object-Oriented Attitude Planning

ZHU Zhe1,2, XU Rui1,2, WANG Xiaoyan3, LI Zhaoyu1,2, ZHU Shengying1,2, LONG Jiateng1,2, GAO Yue4

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Journal of Deep Space Exploration ›› 2024, Vol. 11 ›› Issue (3) : 256-264. DOI: 10.15982/j.issn.2096-9287.2024.20230088
Special Issue:Intelligent Landing on Small Celestial Bodies

Research on Asteroid Flexible Landing with Object-Oriented Attitude Planning

  • ZHU Zhe1,2, XU Rui1,2, WANG Xiaoyan3, LI Zhaoyu1,2, ZHU Shengying1,2, LONG Jiateng1,2, GAO Yue4
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Abstract

In order to solve the problem of attitude maneuvering control and attitude planning for the flexible probe under multiple constraints in the asteroid flexible attachment scenario,in this paper, a goal-oriented attitude planning method for an asteroid-attached flexible probe was proposed. By constructing a node-plane coupling dynamic model, the attitude description and dynamic constraint characterization of the flexible three-node probe were realized. A local optimization expansion strategy was designed to improve the RRT algorithm. The optimization objective was to shorten the distance to the target attitude. The quadratic programming problem was constructed by combining with the attitude dynamics model of the flexible body to enhance the purpose of maneuvering along the attitude path. The simulation results show that compared with the traditional heuristic planning method, the proposed method takes less time to calculate, optimizes the attitude maneuver path length, and can meet the attitude maneuver requirements during the flexible landing process of the asteroid probe. It provides support for the implementation of the small body project.

Keywords

asteroid flexible landing / attitude planning / RRT / object-oriented method

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ZHU Zhe, XU Rui, WANG Xiaoyan, LI Zhaoyu, ZHU Shengying, LONG Jiateng, GAO Yue. Research on Asteroid Flexible Landing with Object-Oriented Attitude Planning. Journal of Deep Space Exploration, 2024, 11(3): 256‒264 https://doi.org/10.15982/j.issn.2096-9287.2024.20230088

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