Obstacle Avoidance Trajectory Correction Control Method for Hopping Movement on Small Celestial Bodies

The surface of small celestial bodies is characterized by complex morphology and irregular gravitational fields. The rover faces the risk of colliding with obstacles during the hopping movement, and environmental disturbances and initial errors can lead to trajectory deviations. In response to the issue, this paper proposes an obstacle avoidance trajectory correction control method during hopping movement of the rover. Initially, the obstacle avoidance correction potential function is established. The maneuver moment is determined by setting limits on trajectory errors, obstacle warning boundaries, and potential function gradients. Using the minimization of the potential field value at the final landing point as the performance metric, the analytical solution for the maneuver velocity during obstacle avoidance correction is derived by solving the linearized dynamic equations. Finally, simulation results for hopping movement on simulated surface and a small celestial body model are presented, demonstrating the effectiveness of the method in steering the rover avoiding obstacles, correcting trajectory errors, and improving hopping accuracy.