Long-range DCS-Anya trajectory planning algorithm considering initial and terminal state constraints

考虑初末状态约束的长航程DCS-Anya航迹规划算法

¹ Shanghai Academy of Spaceflight Technology, Shanghai 201109, China
² Unmanned System Research Institute, Northwestern Polytechnical University, Xi'an 710072, China

Received: 28 April 2024

Abstract

In long-range Earth surface planning scenarios, the curvature of the spherical surface significantly influences trajectory planning. Addressing the problem of long-range spherical trajectory planning with initial and end-state constraints, a DCS-Anya trajectory planning method is presented in this paper. Firstly, the S-Anya method is employed to define path-finding nodes into binary groups. A heuristic function is constructed based on the great circle line distance, enabling trajectory searches at any angle and facilitating the determination of optimal waypoints. Then, multiple great-circle trajectories are constructed based on the waypoints, and geometric curves are applied for trajectory smoothing of multiple great-circle trajectory segments, leading to the formulation of the CS-Anya method, which effectively addresses the issue of trajectory segment discontinuity. Furthermore, based on the Dubins method, the concepts of the critical cut-in/cut-out points are proposed to obtain the shortest velocity-adjusted trajectories, and the resulting DCS-Anya method is developed to specifically address constraints on the initial and final states within the context of great-circle trajectories. Finally, comparative simulation experiments are conducted between the proposed method and the A^* algorithm to validate the rationality and effectiveness of the proposed approach.

摘要

在地球表面的远距离规划场景中, 球面曲率对航迹规划产生显著影响, 针对具有初末状态约束的长航程球面航迹规划问题, 提出了一种考虑初末状态约束的DCS-Anya航迹规划方法。采用S-Anya方法将寻路节点定义成二元组, 并基于大圆航线距离构建启发式函数, 实现任意角度的航迹搜索并获取最优航路点。基于航路点构建多段大圆航迹, 并利用几何曲线对多个大圆航线进行航迹平滑处理, 形成CS-Anya方法, 解决航迹段不光滑的问题; 基于Dubins方法, 提出临界切入点/切出点的概念, 获得最短的速度调整航迹, 形成针对大圆航迹初末状态约束的DCS-Anya方法。采用文中提出的方法与A^*算法进行了对比仿真实验, 验证了所提出方法的合理性和有效性, 并基于初末状态约束获取了光滑连续的球面航迹。