采用势函数的三自由度气浮模拟器追逃策略

doi:10.12305/j.issn.1001-506X.2025.05.27

Abstract

Abstract:

Aiming at the problem of ground verification of spacecraft proximity operation algorithms and pursuit-evasion in close range, a three degrees-of-freedom (3-DOF) microgravity floating simulator is developed, and the pursuit strategy and evasion strategy based on potential function introducing virtual boundary obstacles are proposed. The proposed method makes use of the properties of potential function effectively to avoid obstacles in the environment while pursuing evader and constrains the motion in the limited ground space. The experimental results show that the pursuer can pursue the evader, and is consistent with the simulation results, and proves that the experimental platform can be used to test the maneuver control algorithm and also verifies the effectiveness of the proposed pursuit and evasion strategy based on potential function.

Key words: floating simulator, potential function, pursuit-evasion strategy, virtual obstacle

CLC Number:

V416.8

Chuangge WANG, Danhe CHEN, Wenhe LIAO. Pursuit-evasion strategy of three degrees-of-freedom floating simulator using potential function[J]. Systems Engineering and Electronics, 2025, 47(5): 1655-1662.

Figures/Tables 9

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References 29

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参数	值
包络尺寸(L×W×H)/m	0.3×0.3×0.5
质量/kg	11.2
转动惯量/(kg·m²)	0.11
推力大小/N	0.1
推力器力臂/m	0.1

参数	取值
k_a	1
k_r	1
Q_u	diag([0.028, 0.028])
Q_o	diag([0.01, 0.01])
P_o	diag(^{[5, 5]})
k_p	0.03
k_d	0.35

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Pursuit-evasion strategy of three degrees-of-freedom floating simulator using potential function

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