月面巡视器太阳板对日定向规划算法

针对月面巡视器太阳板对日定向问题,提出了一种规划算法。分析了规划指标与约束条件,约束条件包括太阳入射角约束和太阳板机械转动约束;推导了在车体姿态不变情况下的定向算法,通过将太阳板运动转换为平面上的矢量旋转,实现对日定向;利用巡视器原地转向运动弥补太阳板单自由度转动的不足,将车体运动与太阳板法向矢量轨迹投影至球面,得到车体原地转向时的定向规划算法。仿真结果表明:文章提出的算法能够实现指定约束下的对日定向;对于无法实现理想对日定向的情况,算法也能够获得太阳板的次优规划。

Algorithm for Solar Panel Direction Planning of Lunar Rover

For directing to the sun of the lunar rover＇s solar panel, an algorithm based on plan- ning method is proposed. Firstly, the goal and constraints are introduced. Constraints contain the sunlight incident angle and the solar panel rotation limits. Secondly, a planning with the rov- er＇s attitude preserved is researched. The panel motion is transferred into the vector rotation in a plane, which makes the planning easier. Thirdly, the planning considering zero radius steering is investigated, by projecting the motion of the rover and solar panel into rover body coordinate sphere. The additional rover freedom is helpful to direct to the sun. Finally, computer simulation results show that the proposed algorithm can achieve directing to the sun with specified con- straints and a suboptimal planning can be acquired for the case of not ideally directing to the sun.