Spacecraft formation reconfiguration with multi-obstacle avoidance under navigation and control uncertainties using adaptive artificial potential function method
spacecraft formation flying, spacecraft formation recon-, figuration, collision avoidance, artificial potential function, uncertainties
In this paper, an adaptive artificial potential function (AAPF) method is developed forspacecraft formation reconfiguration with multi-obstacle avoidance under navigation andcontrol uncertainties. Furthermore, an improved Linear Quadratic Regular (ILQR) isproposed to track the reference trajectory and a Lyapunov-based method is employed todemonstrate the stability of the overall closed-loop system. Compared with the traditionalAPF method and the equal-collision-probability surface (ECPS) method, the AAPF methodnot only retains the advantages of APF method and ECPS method, such as low computationalcomplexity, simple analytical control law and easy analytical validation progress, but alsoproposes a new APF to solve multi-obstacle avoidance problem considering the influence ofthe uncertainties. Moreover, the ILQR controller obtains high control accuracy to enhancethe safe performance of the spacecraft formation reconfiguration. Finally, the effectiveness ofthe proposed AAPF method and the ILQR controller are verified by numerical simulations.
Tsinghua University Press
Yi Wang, Xiaoqian Chen, Dechao Ran et al. Spacecraft formation reconfiguration with multi-obstacle avoidance under navigation and control uncertainties using adaptive artificial potential function method.Astrodyn.2020, 4(1): 41–56.