The invention relates to a convex programming-based relative motion time optimal trajectory rapid planning method and device, computer equipment and a storage medium. The method comprises the following steps: establishing a spacecraft relative motion equation under a relative motion coordinate system, and establishing a time optimal trajectory planning problem according to the spacecraft relative motion equation, boundary conditions and constraint conditions; setting the two norm of the terminal error as an objective function of a minimum terminal error problem, and constructing the minimum terminal error problem according to the boundary condition, the constraint condition and the objective function; performing convex programming on the minimum terminal error problem to obtain a terminal error and a control sequence; constructing a performance index by using a terminal error and a control sequence, and converting a time optimal trajectory planning problem into a double-layer optimization problem according to the performance index; and solving the double-layer optimization problem by using a hybrid optimization algorithm to obtain the shortest flight time. By adopting the method, the rapid trajectory planning efficiency can be improved.
本申请涉及一种基于凸规划的相对运动时间最优轨迹快速规划方法、装置、计算机设备和存储介质。所述方法包括:在相对运动坐标系下建立航天器相对运动方程,根据航天器相对运动方程、边界条件以及约束条件,建立时间最优轨迹规划问题;将终端误差的二范数设置为最小终端误差问题的目标函数,根据边界条件、约束条件以及目标函数,构建最小终端误差问题;对最小终端误差问题进行凸规划,得到终端误差和控制序列;利用终端误差和控制序列构造性能指标,根据性能指标将时间最优轨迹规划问题转化为双层优化问题;利用混合优化算法对双层优化问题进行求解,得到最短飞行时间。采用本方法能够提高快速轨迹规划效率。
Rapid planning method and device for optimal trajectory of relative motion time based on convex programming
基于凸规划的相对运动时间最优轨迹快速规划方法及装置
2022-08-30
Patent
Electronic Resource
Chinese
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