Motion planning of spacecraft with obstacle avoidance under low uncertainty using the improved equal-collision-probability-curve and improved linear quadratic regulator strategy. (November 2019)

• Record Type: Journal Article
• Authors: Yi, Wang; Xiaoqian, Chen; Yuzhu, Bai; Lu, Cao; Xiaozhou, Zhu
• Is Part Of: Proceedings of the Institution of Mechanical Engineers. Volume 233:Number 14(2019)
• Page Start: 5456
• Page End: 5467
• Publication Date: 2019-11
• Subjects: Collision avoidance -- proximity operations -- artificial potential function -- equal-collision-probability-curve method -- uncertainty; Aeronautics -- Periodicals; Astronautics -- Periodicals; Airplanes -- Design and construction -- Periodicals; Aerospace industries -- Periodicals; 629.1
• DOI: 10.1177/0954410019848249
• Languages: English
• ISSNs: 0954-4100

Abstract

In terms of the motion planning problem of spacecraft proximity operations with obstacle avoidance under low uncertainty, the improved equal-collision-probability-curve and improved linear quadratic regulator (IECPC-ILQR) strategy is proposed. Firstly, the novel function of the IECPC algorithm is developed to generate the avoidance control impulse. Subsequently, the ILQR is designed to track the reference trajectory. Furthermore, combining the improved ECPC algorithm with the ILQR controller, the composite controller of the IECPC-ILQR strategy is obtained and is implemented on the chaser spacecraft. Compared with the traditional ECPC algorithm, the IECPC-ILQR strategy can avoid collision in the presence of low uncertainty. Furthermore, the proposed avoidance strategy can obtain higher control precision while requiring the same fuel. Finally, numerical simulations verify the effectiveness of the proposed IECPC-ILQR strategy.