考虑时间因素的敏捷自主航天器四维姿态运动规划方法研究

摘要

为解决敏捷自主航天器在轨灵巧、精确姿态运动问题,针对复杂空间环境与其自身运动特点,提出了基于改进的快速搜索随机树的四维姿态运动规划方法.仿真算例检验了该规划方法的有效性,结果表明它不仪满足敏捷自主航天器在一定约束条件下指定时间到达指定地点的四维运动要求,而且对四维姿态运动离线与在线规划两种模式也具备较强的适应性.%An improved four-dimensional attitude motion planning algorithm based on improved Rapidly-searching Random Trees for agile and autonomous spacecraft under complicated space environment is studied. Thia planning algorithm satisfies the requirement for agile and autonomous spacecraft attitude maneuvering with complex constraints. The results show that this four-dimensional motion planning algorithm can be used to obtain the feasible attitude motion trajectories and adapt to the two modes of on and off line planning.