基于DDPG的变外形航天飞行器碰撞规避的轨迹规划方法  

A DDPG-based Trajectory Planning Method for Collision Avoidance of Morphing Spacecraft

作　　者：丁天雲 夏逸 梅泽伟 邵星灵[2,3] 刘俊 DING Tianyun;XIA Yi;MEI Zewei;SHAO Xingling;LIU Jun(School of Instrument and Electronics,North University of China,Taiyuan 030051,Shanxi,China;Key Laboratory of Instrumentation Science&Dynamic Measurement of Ministry of Education,North University of China,Taiyuan 030051,Shanxi,China;School of Electrical and Control Engineering,North University of China,Taiyuan 030051,Shanxi,China)

机构地区：[1]中北大学仪器与电子学院,山西太原030051 [2]中北大学仪器科学与动态测试教育部重点实验室,山西太原030051 [3]中北大学电气与控制工程学院,山西太原030051

出　　处：《兵工学报》2024年第11期3903-3914,共12页Acta Armamentarii

基　　金：国家自然科学基金项目(12345678、23456789)。

摘　　要：针对变外形航天飞行器制导与变形决策强耦合问题,提出了基于深度确定性策略梯度(Deep Deterministic Policy Gradient,DDPG)变外形碰撞规避的轨迹规划方法。依托变形参量建立变外形航天飞行器运动学模型,设计具有射程误差校正功能的纵向制导律和基于视线角偏差的横向制导律,实现绕飞障碍物并保证制导精度。建立适用于连续变外形的马尔可夫决策模型,以攻角、马赫数以及飞行器与障碍物的相对距离为状态空间,设计考虑碰撞的势场惩罚函数及满足制导精度的奖励函数,并构建DDPG网络实现状态空间到动作的尺度变换,得到最优外形决策指令。仿真结果表明:与固定外形航天飞行器相比,通过对外形最优决策,提高了航天飞行器制导精度和横向避障能力,降低了对机载雷达感知能力的要求,节省了感知成本。To address the problem of the strong coupling between the guidance and morphing decision of morphing spacecraft,a morphing collision avoidance trajectory planning method of considering obstacle constraint based on deep deterministic policy gradient(DDPG)is proposed.A kinematic model of morphing aerospace craft is established according to morphing parameter.A longitudinal guidance law with a range error correction function and a lateral guidance law based on line-of-sight angle deviation are designed to realize the obstacle circumvention and ensure the terminal guidance accuracy.Then a Markov decision model is constructed to facilitate a continuous morphing.The angle of attack,Mach,and relative distance from the spacecraft to the obstacle are taken as the state space.The potential field penalty function considering collision and the smallest terminal guidance error reward function is considered in the design.The DDPG network is then trained to generate a map of decision instruction from the state space and obtain the optimal shape decision instruction.The simulated results show that,compared with configuration-fixed spacecraft,the guidance accuracy and lateral obstacle avoidance ability of morphing spacecraft are improved by optimizing the shape,and the requirement for the detection ability of air borne radar is reduced to save the detection cost.

关 键 词：变外形航天飞行器 深度确定性策略梯度 智能决策 轨迹规划 碰撞规避 

分 类 号：V448.235[航空宇航科学与技术—飞行器设计]