To solve the problems of possible real-time trajectory correcting and landing site re-designating during Mars powered descent,the paper computes the reachability set at the beginning of the powered descent phase offline and determines the final landing site online by comparing the current state of the lander with the obtained reachability set.The corresponding descent trajectory is then rapidly searched.If the lander fails to reach any of the given targets,a new landing site in the field of view will be selected through safety index and a trajectory will be planned.The simulation result shows that the proposed reachability set-based rapid trajectory planning method manages to determine the final landing site and obtain the landing trajectory in real-time according to the practical initial state of the lander,fulfilling the goal of Mars soft landing with limited fuel consumption.%针对火星着陆器在动力下降过程可能存在的着陆轨迹实时修正和着陆点再选择等问题,本文通过离线计算着陆器在动力下降段开始时的能控集范围,并在实际着陆过程中判断着陆器当前状态与能控集间的关系,实时确定最终着陆点并快速搜索相应着陆轨迹.若着陆器无法到达预定着陆点,则在视野范围内根据安全因子重新选择着陆点规划运动轨迹.仿真表明,基于能控集的快速轨迹规划法可根据着陆器的实际初始状态快速确定最终着陆点并获得相应着陆轨迹,以有限的燃耗实现火星安全软着陆的目标.
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