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首页> 外文期刊>Journal of aerospace engineering >Rapid Path Planning for Zero Propellant Maneuvers Based on Flatness
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Rapid Path Planning for Zero Propellant Maneuvers Based on Flatness

机译：基于平面度的零推进剂机动快速路径规划

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A rapid path planning (RPP) method that fast generates suboptimal zero propellant maneuver (ZPM) paths was proposed previously, and to further enhance the planning performance, the differential flatness of the model is studied in this paper. For the crucial issue of singularity in flatness planning, the equivalence between the state transformation singularity and the control transformation singularity is proved for the feedback-linearizable multi-input multi-output (MIMO) affine system, which simplifies the singularity investigation of the ZPM problem. The question of searching suitable flat outputs for specific types of large-angle maneuvers is raised before path planning. Four sets of flat output candidates, which are biased to different types of maneuvers, are examined, and it is shown that only the large-angle yaw maneuver is achievable. The essentially singular attitudes (ESAs), for which no outputs could linearize the model, are presented, and it is found that the large-angle pitch or roll maneuver path planning easily encounters singularity in the flat output space no matter what output functions are constructed. To the regular mission of large-angle yaw maneuvers, the flatness is utilized in the RPP method. A simultaneous reconstruction method is proposed to solve the large amount of implicit equations in the planning, and rapid planning for the ZPM path is achieved. (C) 2017 American Society of Civil Engineers.
机译：先前提出了一种快速生成次优零推进剂操纵（ZPM）路径的快速路径规划（RPP）方法，并且为了进一步提高规划性能，本文研究了该模型的差分平坦度。针对平面度规划中的奇异性关键问题，证明了反馈线性化多输入多输出仿射系统的状态变换奇异性与控制变换奇异性的等价性，从而简化了ZPM问题的奇异性研究。在进行路径规划之前，提出了针对特定类型的大角度机动寻找合适的平面输出的问题。检验了偏向不同类型操纵的四组平面输出候选，结果表明仅可实现大角度偏航操纵。提出了本质奇异的姿态（ESA），对于该姿态没有输出可以使模型线性化，并且发现无论构造什么输出函数，大角度俯仰或侧倾操纵路径规划在平坦的输出空间中都容易遇到奇异性。对于大角度偏航操纵的常规任务，在RPP方法中利用了平面度。提出了一种同时重构的方法来求解规划中的大量隐式方程，并实现了ZPM路径的快速规划。 （C）2017年美国土木工程师学会。

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