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多节点探测器软着陆的路径规划方法
引用本文:王鑫,赵清杰,于重重,张长春,陈涌泉. 多节点探测器软着陆的路径规划方法[J]. 宇航学报, 2022, 43(3): 366-373. DOI: 10.3873/j.issn.1000-1328.2022.03.012
作者姓名:王鑫  赵清杰  于重重  张长春  陈涌泉
作者单位:1. 北京理工大学计算机学院,北京 100081; 2. 北京工商大学人工智能学院,北京 100048
基金项目:国家重点研发计划(2019YFA0706500);
摘    要:面向小行星探测任务的需要,柔性连接的多节点深空探测器是针对单节点探测器着陆易倾覆或反弹等问题的一种解决方案.基于此构建了一种采用柔性连接的三节点探测器并对其软着陆情况进行建模,提出了带自注意力机制的多任务深度强化学习方法.各节点以探测器主体为参照物描述自身状态,节点之间通过联合学习来提高各自对复杂环境的适应能力;在对探...

关 键 词:深空探测器  软着陆  深度强化学习  多任务学习  自注意力机制
收稿时间:2021-04-29

Path Planning Method of Soft Landing for Multi Node Probe
WANG Xin,ZHAO Qing jie,YU Chong chong,ZHANG Chang chun,CHEN Yong quan. Path Planning Method of Soft Landing for Multi Node Probe[J]. Journal of Astronautics, 2022, 43(3): 366-373. DOI: 10.3873/j.issn.1000-1328.2022.03.012
Authors:WANG Xin  ZHAO Qing jie  YU Chong chong  ZHANG Chang chun  CHEN Yong quan
Affiliation:1. School of Computer Science, Beijing Institute of Technology, Beijing 100081, China;2. School of Artificial Intelligence, Beijing Technology and Business University, Beijing 100048, China
Abstract:The deep space probe with flexible connected multiple nodes is probably a solution to the possible overturn or rebound in single node probe landing on an asteroid. Therefore, we construct a probe with flexible connected three nodes, model the soft landing process, and propose a multi task deep reinforcement learning method with self attention mechanism. Each node’s state is described referring to the probe base. Furthermore, joint learning among nodes is used to improve their adaptability. At the same time, the self attention is applied to make the nodes focus on their own tasks and learn better strategies to obtain higher rewards for feature extraction of the probe and obstacles. Experimental results show that the method proposed in this paper is more beneficial to the stable landing of the probe compared with other methods.
Keywords:Deep space probe   Soft landing   Deep reinforcement learning   Multi task learning   Self attention mechanism  
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