Abstract
To address the challenge of mission re-planning when a deep space probe with multiple nodes landing on small celestial bodies, a planning constraint model and a re-planning algorithm are studied. Based on the multiple nodes collaborative working mechanism and complex time constraint forms, the graph representation of system and time constraints are defined, and a layered constraint graph is constructed to describe the deep space probe system. The proposed algorithm combines the idea of binary and dynamic programming, including a layered delay satisfaction verification mechanism and a layered constraint search algorithm. A delay satisfaction verification mechanism for burst constraints is established by hierarchical storage of constraints with different granularity. For the scenarios where the overall delay cannot meet all constraints, a multi granularity constraint search algorithm is proposed based on the hierarchical matching of constraints. Simulation experiments show that the proposed algorithm can quickly generate a re-planning result with minimal time constraint loss cost to meet the real-time autonomous decision-making requirements for deep space explorations.
Translated title of the contribution | Layered constraint graph model and re-planning algorithm for landing of probe with multiple nodes |
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Original language | Chinese (Traditional) |
Pages (from-to) | 626-634 |
Number of pages | 9 |
Journal | Kongzhi yu Juece/Control and Decision |
Volume | 40 |
Issue number | 2 |
DOIs | |
Publication status | Published - Feb 2025 |