采用反馈路径规划的航天器近程安全交会对接

The chase spacecraft is required to strictly comply with the constraints like keep-out zone and docking corridor during the rendezvous and docking (RVD) mission. A feedback motion planning algorithm based on linear quadratic regulator trees (LQR-Trees) is employed to design the control and trajectory. Firstly, a nonlinear programming (NLP) method is used to calculate an open-loop trajectory and control as the nominal trajectory. Local feedback control algorithm is used to design the control law to maintain the real trajectories along nominal trajectory. Secondly, Sums of squares convex optimization method is used to calculate the backward reachability set along the nominal trajectory. Finally, several sparse backward reachability sets are combined to cover a large state space and extend the region of stability. We firstly propose the six-dimensional LQR-Trees method in spacecraft safe RVD mission, redesign the control saturation and constraints. The simulation illustrates the effectiveness of safety control of spacecraft RVD mission via designing five stable regions to satisfy the docking corridor constraints.