Planet landing obstacle avoidance control method based on collision probability

Abstract

The invention discloses a planet landing obstacle avoidance control method based on a collision probability, which relates to a planet landing obstacle avoidance control method and belongs to the field of deep space exploration. The realization method comprises steps: a system dynamics equation is built; a potential function about a target point in a Lyapunov function is built, a detector is ensured to approach the target landing point, and the target landing speed is also met; a covariance matrix for the detector position is introduced, and the collision probability between the detector and each obstacle area is calculated; based on the collision probability, the Lyapunov function is built, a Lyapunov stability principle is used for acquiring a control acceleration, the acquired acceleration is used for controlling the detector landing trajectory. Influences on the detector obstacle avoidance control by multiple perturbations on the surface of the planet and an uncertain environment can be reduced, complicated obstacles on the surface of the planet can be effectively avoided, and autonomous, safe and accurate landing is realized. The method of the invention also has the advantages of good robustness and high real-time performance.

Description

technical field [0001] The invention relates to a planetary landing obstacle avoidance control method, in particular to a planetary landing obstacle avoidance control method based on collision probability, belonging to the field of deep space exploration. Background technique [0002] Obstacle avoidance of small celestial body landing is an important issue in small celestial body landing detection, which is related to the success or failure of the small celestial body landing mission and the safety of the small celestial body detector. Due to the irregular shape and large surface curvature of small celestial bodies, the area available for small celestial bodies to land is generally small. At the same time, the surface of small celestial bodies is rugged, and there are a large number of craters, rocks, slopes, hills, etc., which pose a direct threat to the safety of small celestial body detectors. Due to the large uncertainty of the small celestial body environment and the l...

AI Technical Summary

Problems solved by technology

[0005] The invention discloses a planetary landing obstacle avoidance control method based on collision probability. The technical problem to be solved is to reduce the impact of multiple disturbances and uncertain environments on the planetary surface on the obstacle avoidance control of the detector, and effectively control complex obstacles on the planetary surface. Evasion, autonomous safe and precise landing

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