Predictor-corrector strategy based energy suboptimal obstacle avoidance for landing on small bodies

The hazard and obstacle detection and avoidance is an essential technique to guarantee the small body landing safety. This paper focuses on the problem of energy consumption while designing the obstacle avoidance guidance algorithm for small body landing. To this end, an energy suboptimal obstacle avoidance guidance is proposed, in which the terminal time is selected the parameter that can be adjusted to change the curvature of the landing trajectory. Then, predictor-corrector strategy is adopted to predict the potential obstacle will might be encountered and correct the trajectory by onboard searching the appropriate terminal time. Therefore, this guidance algorithm is inherently closed-loop. The effectiveness of the proposed guidance algorithm is demonstrated by high fidelity simulation of the landing on Eros 433.