The invention relates to a multi-node lander collaborative obstacle avoidance method under non-consistent constraints, and the method comprises the steps: controlling a multi-node lander to descend to a preset height, and obtaining an environment map of a star catalogue; calculating the trajectory of the virtual center of the multi-node lander and the position of each node; based on flexible transformation constraints such as a configuration potential field, an obstacle avoidance potential field and a collision avoidance potential field of the multi-node lander, the real-time distance of each node relative to the virtual center is determined, and the trajectory of each node is calculated; and controlling each node to track the own trajectory to realize collaborative obstacle avoidance. According to the method, a future asteroid probe can be stably and accurately attached to a landing point with high scientific value when executing landing and sample return tasks, and can cope with various dangerous bottom lines such as steep slopes and long and narrow valleys.
本发明涉及一种非一致约束下多节点着陆器协同避障方法,其中方法包括:控制多节点着陆器下降到预设的高度,获取星表的环境地图;计算所述多节点着陆器虚拟中心的轨迹和各个节点的位置;基于所述多节点着陆器的构型势场、避障势场和避碰势场等柔性变换约束,确定各节点相对所述虚拟中心的实时距离,计算各节点自身的轨迹;控制各节点跟踪所述自身的轨迹实现协同避障。本方法赋予未来的小行星探测器,在执行着陆和样本返回任务时,具备能够稳健准确的附着在具有较高科学价值的着陆点,能够应对各种危险底线,如陡峭的坡面,狭长的山谷等。
Multi-node lander collaborative obstacle avoidance decision-making method under non-consistent constraint
一种非一致约束下多节点着陆器协同避障决策方法
2023-04-14
Patent
Elektronische Ressource
Chinesisch
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