›› 2017, Vol. 37 ›› Issue (1): 19-25.doi: 10.16708/j.cnki.1000-758X.2017.0006

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Trajectoryplanningfornon-cooperativetargetmultispacecraftformationbasedonbehaviorstrategy

 WANG  Tao1,2,XU  Yong-Sheng2,ZHANG  Ying-Chun1,2,*, XIE  Cheng-Qing2   

  1. 1HarbinInstituteofTechnology,Harbin150001,China
    2AerospaceDongfanghongDevelopmentLtd,Shenzhen518057,China
  • Received:2016-10-25 Revised:2017-01-10 Online:2017-02-25 Published:2017-01-24

Abstract: Thecurrentspacecraftformationtrajectoryplanningsdon′tconsidernoncooperativetarget,configurationcomplexityandcollaborativecontrolproblem.Arelativemotiontrajectoryplanningmethodbasedonbehaviorstrategywasproposedfornoncooperativetargetmultispacecraftformationsystem.Firstly,anunderlyingkinematicalfieldwasdesignedbasedonthegathermodel.Expectspeedwasdefinedasaseriesofspeedvectorwithdifferentbehaviorfeatures.Thebehavioradjustparameterswerecalculatedbyconstructingequilibriumshapingformula.Secondly,thenon-cooperativetargetwasdescribedwithGaussenvironmentfunction.TheexpectkinematicalfieldwasimprovedbyusingtheC-Wfunction.Themethod   notonlyavoidsthecollisionbetweentheformationmembers,butalsoguaranteesthesafedistancebetweenthenon-cooperativetargets.Thesimulationresultsshowthatthealgorithmcanmakethemulti-spacecraftformationsystemmovingtotheexpectconfigurationin3000seconds.Themethodhasobviousadvantageswhenusedincomplex,multiplecontroltargetoftheformationsystemtrajectoryplanning.Itisautonomy,collaborative,strongrobustness,andetc.Atthesametimethemethodcanbeappliedtodifferenttypesofformationconfigurationrelativemotionplanning.

Key words: behaviorstrategy, noncooperativetarget, multispacecraftformation, collisionavoidance, trajectoryplanning