Research On Reconfiguration Path Planning Algorithm For Self- Reconfigurable Satellites

Self-reconfigurable satellites have a wide range of application prospects due to their variable structure in orbit.In addition to designing the structure of the satellite module,how to plan the reconfiguration of the satellite configuration has become a difficult problem in applications.The uniqueness of the structure of the self-reconfigurable satellite determines its motion rules.Therefore,the proposed reconfiguration planning algorithm is often specific and difficult to be widely used.After deeply researching the characteristics of self-reconfigurable robots at home and abroad and combining the advantages of M-Blocks and Miche robots,this paper proposes a self-reconfigurable satellite with a cubic symmetry structure of rotating motion,and uses it as a research object to study the expression of self-reconfigured satellites and reconfiguration planning algorithms.The work space and function of the entire satellite are closely related to the topology of the satellite.According to the degree of freedom that the module has,a mathematical description method combining the position matrix and connection matrix based on graph theory is proposed to express the satellite configuration.With these two matrices,combined with the motion rules of self-reconfigurable satellites,a two-dimensional and three-dimensional module single-step movable configuration library is created using the MATLAB.In order to preserve the attitude information of the satellite module during the rotation process,this paper studies the attitude transformation matrix of the rotary motion module.Firstly,this paper proposed a centralized self-reconfiguration planning algorithm for two-dimensional movement of satellite modules based on the rules,and obtains the feasibility of the mathematical simulation to verify the feasibility of the algorithm.Then,a centralized layered self-reconfiguration planning algorithm for three-dimensional movement of satellite modules is proposed,and the three-dimensional motion is reduced to two-dimensional motion,and the self-reconfiguration planning algorithm for twodimensional movement of satellite modules is used to reduce the difficulty of path planning.Considering that the satellites modules have attitude constraints in the actual task and the attitude information of the module movement,the satellite reconfiguration planning algorithm with module attitude constraints is completed.To ensure that satellites can be quickly reconfigured from the initial configuration to the target configuration.This paper makes use of the self-reconfigurable satellite's perception of local surroundings and the characteristics of autonomous decision-making and independent movement.A distributed self-reconfiguration planning algorithm is proposed to control multiple modules to move to the target position simultaneously.The effectiveness of the distributed self-reconfiguration planning algorithm is verified by simulation,and the distributed algorithm is compared with the centralized self-reconfiguration planning algorithm to obtain better results.Finally,this paper improves the distributed reconfiguration planning algorithm and applies it to the satellite's reconfiguration with attitude constraint module.It controls multiple satellite modules including the attitude constrained module to move to the target configuration simultaneously.The results obtained by the mathematical simulation verify the feasibility and efficiency of the improved algorithm.