›› 2012, Vol. 32 ›› Issue (5): 1-8.doi: 10.3780/j.issn.1000-758X.2012.05.001

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Adaptive Artificial Potential Function Guidance for Dynamic Obstacle Avoidance of Spacecraft

 GAO  Peng1,2, LUO  Jian-Jun1,2   

  1. (1SchoolofAstronautics,NorthwesternPolytechnicalUniversity,Xi′an710072)
    (2ScienceandTechnologyonAerospaceFlightDynamicsLaboratory,Xi′an710072)
  • Received:2011-10-20 Revised:2012-10-25 Online:2012-10-25 Published:2012-10-25

Abstract: Toavoidthedynamicobstaclesduringspacecraftautonomousproximityoperations,afuelsavingandhighaccuracyadaptiveartificialpotentialfunctionguidancemethodfordynamicobstaclesavoidancewaspresented.AsforthesituationthattheGaussianrepulsivepotentialfunctionwasnonzeroatthedesiredposition,acorrectiontermwasmultipliedtoeliminate deviationfromtheequilibriumpoint.Theguidancelawofavoidingdynamicobstacleswasdeducedbasedonthatofthestaticobstaclesavoidance.Then,accordingtotherelationshipbetweenvelocityandgravitygradient,thenegativefeedbackcontrolwasdesignedtomakethegravitygradientadapttothevarianceofvelocity,andtheadaptiveartificialpotentialfunctionguidancelawfordynamicobstaclesavoidancewasobtainedeventually.Toverifythecorrectnessandeffectivenessoftheguidancelaw,aseriesofnumericalsimulationsusingtheprecisemathematicalmodelwerecarriedout.Thesimulationresultsshowthatthecorrectedpotentialfunctioncaneffectivelyimprovetheconvergentprecision;andtheadaptiveartificialpotentialfunctionguidancelawmakesthecontrolpulsesmorereasonable,withsaving30%ofthetotaldeltaV,andistwodegreesmoreaccuratethanthetraditionalartificialpotentialfunctionguidancelaw.

Key words: Artificial potential function, Guidance, Dynamic obstacles, Adaptive, Spacecraft