Obstacle avoidance method for soft landing of object outside earth under multi-obstacle constraint environment

A technology for obstacles and celestial bodies, applied in the field of optimal guidance for obstacle avoidance in a multi-obstacle constrained environment

Active Publication Date: 2016-09-07
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0023] The object of the present invention is to provide an obstacle avoidance method in a multi-obstacle constrained environment for soft landing of an extraterrestrial celestial bo

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  • Obstacle avoidance method for soft landing of object outside earth under multi-obstacle constraint environment
  • Obstacle avoidance method for soft landing of object outside earth under multi-obstacle constraint environment
  • Obstacle avoidance method for soft landing of object outside earth under multi-obstacle constraint environment

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specific Embodiment approach 1

[0078] Specific implementation one: as Figures 2 to 4 As shown, the implementation process of an obstacle avoidance method for an extraterrestrial celestial body soft landing in a multi-obstacle constrained environment described in this embodiment is as follows:

[0079] Step 1. Analyze the convex obstacles on the surface of extraterrestrial celestial bodies and build a mathematical model of the convex obstacles;

[0080] Step 2, performing linear transformation on the mathematical model of the convex obstacle, and transforming the non-convex constraint into a convex constraint;

[0081] Step 3: Integrate the linearly transformed mathematical model of convex obstacles into the second-order cone programming problem, and establish a complete optimal second-order cone programming model considering obstacle constraints;

[0082] Step 4: Using a complete optimal second-order cone programming model considering obstacle constraints to achieve optimal obstacle avoidance under the mu...

specific Embodiment approach 2

[0083] Specific embodiment 2: In this embodiment, the convex obstacles on the surface of extraterrestrial celestial bodies described in step 1 are analyzed and a mathematical model of convex obstacles is constructed. The specific process is:

[0084] Step 11. Raised obstacle model selection

[0085] The selected raised obstacle model generally conforms to the constrained outline and has the ability to describe most of the raised obstacles;

[0086] Using the convex optimization method to avoid obstacles, the selected 3D geometric model can be converted into convex constraints, and the convex obstacles on the lunar surface can be described as conical constraints;

[0087] By adjusting the height of the cone and the size of the half-apex angle, most of the convex obstacles on the lunar surface are approximately described, and it is universal to describe the convex obstacles as conical constraints;

[0088] Steps 1 and 2, Mathematical description of the raised obstacle model

...

specific Embodiment approach 3

[0101] Specific implementation three: as Figures 2 to 4 As shown, in the second step of this embodiment, the mathematical model of the convex obstacle is linearly transformed, and the non-convex constraint is transformed into a convex constraint (the obstacle constraint convex transformation), and the specific process is:

[0102] Convex the non-convex obstacle constraint to transform the whole problem into a convex optimization problem, or more accurately, into a second-order cone programming problem;

[0103] The general idea of ​​transforming the non-convex constraint shown in equation (8) into a convex constraint is to take the first-order Taylor expansion term for the norm constraint contained, so that the entire constraint becomes a linear constraint, because the linear constraint is a convex constraint. One, so the obstacle constraint is converted into a convex constraint;

[0104] To facilitate the solution, first write the vector in its component form:

[0105] P-H...

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Abstract

The invention provides an obstacle avoidance method for soft landing of an object outside the earth under a multi-obstacle constraint environment, and belongs to the technical field of navigation, guidance and control. The invention provides an improved optimum soft landing guidance method based on convex optimization for the problem of optimum guidance under the multi-obstacle constraint environment on the basis of the previous achievements. The method is characterized by, to begin with, establishing an optimal second-order cone programming model without obstacle constraint, and standardizing the model; then, carrying out analysis modeling on bulge obstacles on the surface of the Mars, and carrying out linear conversion to enable nonconvex constraints to be converted into convex constraints; fusing an obtained bulge obstacle mathematical model into second-order cone programming problems, and establishing a complete optimal second-order cone programming model with the obstacle constraints being taken into consideration; and finally, verifying the correctness of the algorithm through simulation analysis of three different types of obstacle constraints. The method can be applied to the study of lunar soft landing; the simulation result shows that the new algorithm realizes effective avoidance of three-dimensional space obstacles; available space for flying above and surrounding the obstacles is utilized reasonably; and fuel minimization is met simultaneously.

Description

technical field [0001] The invention belongs to the technical field of navigation, guidance and control, and relates to an optimal guidance method for obstacle avoidance in a multi-obstacle constraint environment. Background technique [0002] At present, a variety of methods have been used for the optimal guidance problem of the soft landing process of extraterrestrial celestial bodies, but there is still no better solution to the obstacle avoidance problem in the multi-obstacle constraint environment. [0003] The following is a general solution to the optimal guidance problem for the soft landing process of extraterrestrial objects. The process is as follows: [0004] During the approaching stage of the entire landing process, the lander has been very close to the lunar surface, and the influence of the lunar autobiography can be ignored at this time, and the entire dynamic model is established in a fixed coordinate system on the lunar surface with the landing point as th...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/101
Inventor 白成超郭继峰张露文
Owner HARBIN INST OF TECH
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