考虑时间状态的敏捷自主在轨服务航天器高维运动规划研究

摘要

针对敏捷自主在轨服务航天器自身和所在复杂空间环境等特点,研究其在轨灵巧、精确服务的运动规划问题,提出了以平动、转动和时间为状态的改进的快速搜索随机树高维运动规划方法.仿真算例检验了该规划方法的有效性,结果表明它不仅满足敏捷自主在轨服务航天器在一定约束条件下按照指定时间到达指定地点的高维运动要求,而且对离线与在线规划两种模式也具备较强的适应性.%An improved Rapidly-exploring Random Trees-based High-dimensional motion planning algonthm for an agile and autonomous on-orbit servicing spacecraft in complicated space environment is studied. This planner satisfies the requirement for agile and autonomous spacecraft maneuvering under complex constraints. The results show that this high-dimensional motion planner can be used to abtain the feasible motion trajectories and adapt to the two modes of on and off line planning.