航天器复杂约束姿态机动的自主规划

 研究了星载设备经受动态环境的多种几何约束和动力学约束时，航天器姿态机动历程的星上规划方法。将完整姿态映射为三维姿态描述空间中的点，姿态路径的规划问题转化为中间节点的规划。随机搜索空间中的一组节点，在相邻节点间采用施加动力学约束的Euler转动姿态制导律，并考查Euler转动过程中的几何约束。用快速搜索随机树方法搜索到可行解，再利用姿态空间特性对路径加以优化。仿真显示算法能在大范围内快速得到可行解，优化措施有助缩短机动时间。离散化的节点规划保证了复杂约束情况下解的有效性，并具有概率完备性。

Autonomous Attitude Maneuver Planning for Spacecraft under Complex Constraints

For spacecraft suffering from multiple celestial constraints in time-varying space environment,along with intrinsic dynamics constraints,an onboard attitude maneuver planning was studied.The full altitude was mapped to a point described in three-dimensional attitude space.The attitude path planning was then trans-formed to sequent plannings of intermediate nodes.A set of nodes were randomly searched in the attitude space.For the Euler rotation between two adjacent nodes,an attitude guidance law with built in dynamics constraints drove the motion,and the geometry constraints were checked.A feasible path was found using rapidly exploring random trees,and was subsequently optimized utilizing features of the attitude space.Simulations show that the algorithm can rapidly find a valid path in large-scale space,and the optimization procedure aids to reduce the maneuver time span.The discrete node planning guarantees availability of valid solution,and ex hibits probabilistic completeness.