During the lifetime of a spacecraft, a lot of attitude maneuver operations are necessary for mission requirement. If aspecial sensor, which cannot point to Sun or other bright objects, is installed on the spacecraft, a least separation anglebetween the direction of the sensor and the bright object must be kept. Therefore, the attitude free space is restrictedand the attitude should not slew arbitrarily. The analogous case exists for communication with earth by antenna andpower supply by solar panel. The ability to autonomously control attitude maneuver under geometric constraints isone of the key technologies in some future space missions. This paper proposed an attitude slew maneuver pathgeneration algorithm, which is based on Rapidly Exploring Random Tree (RRT) and Quadratic programming(QP).Due to the mature technology of uniform sample in attitude space, the RRT, as a global planner, freely andincrementally expands to some chosen uniform sample point in a greedy pattern. By this means, the geometricconstraints can be well satisfied and the tree can expand fast and terminate within finite iterations. Meanwhile, thelocal planner transforms the dynamic equation to linear constraints of quadratic programming problem. In each step,only a trivial numerical procedure is needed although it assumes the main computational cost. Consequently, thegeometric and dynamic constraints are met respectively, and the maneuver path of kinodynamics is generated.Simulation results and analysis validate the advantages of the proposed algorithm.
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