A trajectory planning method for fixed-point attachment on the surface of small celestial bodies considering bouncing

Abstract

The invention discloses a trajectory planning method for fixed-point attachment on the surface of a small celestial body considering bouncing, and belongs to the technical field of deep space exploration. The implementation method of the present invention is as follows: using the deep deterministic strategy gradient algorithm, training the agent according to the feasible space of the initial state of the detector, and then planning the attitude information of the detector before the collision; in order to reduce the difficulty of training, the fixed-point attachment task is divided into The agent is trained separately in the two phases of the approach segment and the braking segment; according to the current state of the detector, the trained agent is used to give the attitude information of the detector before each collision, and the sliding mode control method is used to solve the control torque, so that The attitude of the probe before the collision is adjusted to the expected value, so that the probe can achieve the desired bounce trajectory and complete the precise attachment of the probe to the target point on the surface of the small celestial body. The invention solves the problem of bouncing track planning for precise attachment to the surface of the small celestial body by planning the attitude sequence before the detector collides with the surface of the small celestial body.

Description

technical field [0001] The invention relates to a trajectory planning method, in particular to a bouncing trajectory planning method for fixed-point attachment on the surface of a small celestial body, and belongs to the technical field of deep space detection. Background technique [0002] With the development of aerospace technology, the detection of small celestial bodies has become a hot spot in the field of aerospace. In order to obtain accurate data of small celestial bodies and develop and utilize small celestial body resources, surface attachment detection is required. At the end of the landing stage of the probe, if it is predicted that there is a position deviation, the trajectory needs to be adjusted to accurately reach the target position. In the physical environment of weak gravity of small celestial bodies, the landing trajectory is prone to rebound, but the bouncing movement on the surface of small celestial bodies can also be realized by using rebound. If t...

AI Technical Summary

Problems solved by technology

However, there are deficiencies in this technology. On the one hand, the detector has a horizontal velocity at the target point, which cannot achieve the requirement of attaching to the target point; on the other hand, the planned trajectory lacks inner loop control, and the inner loop does not use control torque to plan Good attitude and angular velocity for tracking

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