| 航天器集群控制与规划算法仿真验证平台设计 |
| |
| 作者姓名： | 高 雅 夏红伟 马广程 李旭东 孙浩然 马长波 |
| |
| 作者单位： | 哈尔滨工业大学 航天学院;上海航天控制技术研究所 |
| |
| 基金项目： | 国家自然科学基金项目资助（61304108） |
| |
| 摘 要： | 航天器集群作为一种新兴的多航天器协同模式，已经成为分布式空间系统的一个重要研究课题。很多关于航天器集群的关键技术需要在地面进行仿真、分析和验证。针对上述需求，设计了一种仿真验证平台，在地面实现了对航天器智能集群导航、规划与控制算法的全物理分析和验证。首先，给出了仿真验证平台的几种位姿识别方案，重点分析了一种基于单目相机的全局位姿识别技术，提出了一种基于气浮技术的航天器集群控制与规划算法仿真验证平台的总体设计方案，并定义了集群的运动场行为函数，设计了基于滑模控制的路径规划算法。最后，通过仿真验证了本方法的可行性和有效性。
|
| 关 键 词： | 集群控制 全物理仿真 图像识别 气浮机器人 滑模控制 |
Design of Simulation Verification Platform for Spacecraft Cluster Control and Planning Algorithm |
| |
| Authors: | GAO Y XIA Hongwei MA Guangcheng LI Xudong SUN Haoran MA Changbo |
| |
| Affiliation: | Aerospace Institute, Harbin Institute of Technology;Shanghai Aerospace Control Technology Institute |
| |
| Abstract: | As an emerging multi-spacecraft coordination mode, spacecraft clusters have become an important research topic of distributed space systems. Many key technologies need to be simulated, analyzed and verified on the ground. In response to the above requirements, this paper designs a simulation verification platform to realize full physical analysis and verification of spacecraft intelligent cluster navigation, planning and control algorithms on the ground. First, several pose recognition schemes of the simulation verification platform are given, a global pose recognition technology is analyzed based on a monocular camera, and an overall design scheme of a simulation verification platform for spacecraft cluster control technology is proposed based on air flotation technology. Secondly, the sports field behavior function of the cluster is defined, and a path planning algorithm based on sliding mode control is designed. Finally, simulation experiments verify the feasibility and effectiveness of the method in this paper. |
| |
| Keywords: | cluster control full-physical simulation image recognition air floating robot sliding mode control |
|
| 点击此处可从《》浏览原始摘要信息 |
|
点击此处可从《》下载全文 |
