多节点探测器软着陆的路径规划方法

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...

Path Planning Method of Soft Landing for Multi Node Probe

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.