The invention discloses a spacecraft cluster dynamic obstacle avoidance and intelligent game method, which comprises the following steps: S1, taking a virtual spacecraft running on a circular orbit as a reference spacecraft, and establishing a coordinate system; s2, under the coordinate system, performing relative motion dynamics modeling on the spacecraft cluster and the target to obtain a relative motion dynamics model describing the virtual spacecraft and the spacecraft cluster; s3, acquiring coordinate data of each sub-spacecraft in the spacecraft cluster under the coordinate system; s4, determining the distance between each sub-spacecraft and the obstacle according to the kinematic mechanics model and the coordinate data; s5, judging whether a condition that the distance is greater than a preset threshold exists or not, if so, entering S6, and otherwise, entering S7; s6, according to the gravitation relation between each sub-spacecraft and the target and the repulsive force relation between each sub-spacecraft and the obstacle, which are determined based on an artificial potential field method, driving the spacecraft cluster to reach a surrounding state; and S7, surrounding the target obstacle by using the intelligent surrounding strategy.
本发明公开了一种航天器集群动态避障与智能博弈方法,包括:S1:考虑以运行在圆轨道上的虚拟航天器为参考航天器,建立坐标系;S2:在坐标系下,对航天器集群和目标进行相对运动动力学建模,得到描述虚拟航天器和航天器集群的相对运动动力学模型;S3:获取航天器集群中各子航天器在坐标系下的坐标数据;S4:根据运动力学模型和坐标数据,确定各子航天器与障碍物之间的距离;S5:判断是否存在距离大于预设阈值的情况,若是,进入S6,否则,进入S7;S6:根据基于人工势场法确定的各子航天器与目标间的引力关系和各子航天器与障碍物间的斥力关系,驱动航天器集群达到围捕状态;S7:利用智能围捕策略对目标障碍物进行围捕。
Spacecraft cluster dynamic obstacle avoidance and intelligent game method
一种航天器集群动态避障与智能博弈方法
2023-09-08
Patent
Electronic Resource
Chinese
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