基于改进RRT^(*)的RLV在线再入轨迹规划算法  

Online Re-entry Trajectory Planning Algorithm for Reusable Launch Vehicle Based on Improved RRT^(*)

作　　者：符歆国 关成启 杨婷 佘智勇[1] FU Xinguo;GUAN Chengqi;YANG Ting;SHE Zhiyong(Beijing Aerospace Technology Institute,Beijing 100074;Northwestern Polytechnical University,Xi'an 710072)

机构地区：[1]北京空天技术研究所,北京100074 [2]西北工业大学,西安710072

出　　处：《飞控与探测》2025年第1期57-66,共10页Flight Control & Detection

基　　金：国家自然科学基金(62003271)。

摘　　要：针对多约束条件下可重复使用运载飞行器(Reusable Launch Vehicle,RLV)的再入返回问题提出了一种基于快速探索随机树(Rapidly-exploring Random Tree,RRT^(*))算法的轨迹规划方法。在纵向剖面规划中,根据动压、过载、热流率和平衡滑翔条件约束,在高度速度空间构建多约束飞行走廊。为了获得平滑、可控的纵向参考轨迹,提出了3种代价用以改进现有的RRT^(*)算法,即控制代价、轨迹代价和航程代价。在横向剖面规划中,采用滚转角反转策略保证找到一个可行的反转点,使得横向轨迹到达航向对准圆(Heading Alignment Circle,HAC),实现三维轨迹设计。该算法将多约束条件下的再入轨迹规划问题转化为RRT^(*)算法中的路径代价设置问题,从而大大提高了轨迹规划的速度和可靠性。仿真结果表明,所设计的参考轨迹较为平滑,逻辑简单,易于在工程中实现。A re-entry trajectory planning method based on the rapidly-exploring random tree(RRT^(*))algorithm is proposed for the Reusable Launch Vehicle(RLV)under multiple constraints.During the longitudinal profile planning,a multi-constraint flight corridor is constructed in the altitude-velocity space according to dynamic pressure,load,heat rate and equilibrium glide condition constraints.In order to obtain a smooth,controllable altitude-velocity reference trajectory,three types of cost have been proposed,i.e.,cost of control,smooth trajectory and range,which improves the RRT^(*).By doing so,a feasible reversal point can be guaranteed which will be used to design the lateral trajectory to the heading alignment circle(HAC)and the 3DOF trajectory design is realized.Further,the RRT^(*)algorithm is employed to solve the derived optimal problem quickly.The proposed algorithm transforms the re-entry trajectory planning problem under multiple constraints into a path cost setting problem in the RRT^(*)algorithm that greatly improves the speed and reliability of trajectory planning.The simulation results show that the designed reference trajectory is smooth,and the logic is simple and easy to implement in engineering.

关 键 词：可重复使用运载飞行器 在线再入轨迹规划 改进RRT^(*) 多约束 

分 类 号：V448.22[航空宇航科学与技术—飞行器设计]