模块化可重构卫星在轨自重构的分层规划

模块化可重构卫星具有组织灵活、操作方便、适应性强等特点，可以有效降低卫星研制和发射成本、提高卫星对紧急任务的响应速度、延长卫星寿命。重构规划问题对模块的具体移动方式进行求解，是实现自重构需要解决的核心问题之一。针对同构式旋转立方结构，给出其离散运动模型，推导出运动空间求解算法。为降低重构规划问题的不确定性和复杂程度，采用分层规划策略，将规划任务分解为设计中间构型的上层规划和求解实现中间构型移动方式的下层规划，每层规划内部独立进行求解。设计了利用Kuhn-Munkres算法实现上层规划的重构规划算法，使中间构型具有较小的结构跨度，特别适合在轨自重构的重构规划问题求解。仿真结果表明了所提规划策略和所设计规划算法的可行性和有效性。

Hierarchical planning for on-orbit self-reconfiguration of modular reconfigurable satellites

The modular reconfigurable satellite has the characteristics of flexible organization, convenient operation and strong adaptability, which can effectively reduce the satellite development and launch cost, improve the satellite's response speed to emergency missions, and extend the life of the satellite. Reconstruction planning problem solves the specific moving mode of the module, which is one of the core problems that need to be solved to realize self-reconfiguration. For the isomorphic rotating cubic structure, the discrete motion model is given and the motion space solving algorithm is derived. In order to reduce the uncertainty and complexity of the reconstruction planning problem, the hierarchical planning strategy is adopted to decompose the planning task into the upper layer planning of the intermediate design and the lower layer planning to obtain the intermediate configuration moving solution. The Kuhn-Munkres algorithm is used to realize the reconstruction planning algorithm of the upper layer planning, which makes the intermediate configuration have a small structural span, which is especially suitable for solving the reconstruction planning problem in the orbit self-reconstruction. The simulation results show the feasibility and effectiveness of the proposed planning strategy and the designed planning algorithm.