模块化可重构卫星在轨自重构的分层规划

doi:10.7527/S1000-6893.2019.22912

ACTA AERONAUTICAET ASTRONAUTICA SINICA ›› 2019, Vol. 40 ›› Issue (9): 322912-322912.doi: 10.7527/S1000-6893.2019.22912

• Electronics and Electrical Engineering and Control • Previous Articles Next Articles

Hierarchical planning for on-orbit self-reconfiguration of modular reconfigurable satellites

WANG Bo¹, YE Dong¹, SUN Zhaowei¹, TANG Shengyong², CHEN Xin³

1. Research Center of Satellite Technology, Harbin Institute of Technology, Harbin 150001, China;
2. Aerospace System Engineering Shanghai, Shanghai 201109, China;
3. Beijing Institue of Space Long March Vehicle, Beijing 100076, China

Received:2019-01-15 Revised:2019-03-08 Online:2019-09-15 Published:2019-09-20
Supported by:
National Natural Science Foundation of China (61603115,91638301,51875119); China Postdoctoral Science Foundation(2015M81455);Postdoctoral Funding for Heilongjiang Province in 2015 (LBH-Z15085)

Abstract

Abstract: The modular reconfigurable satellite has the characteristics of flexible organization, convenient operation and strong adaptability, which can effectively reduce the satellite development and launch cost, improve the satellite's response speed to emergency missions, and extend the life of the satellite. Reconstruction planning problem solves the specific moving mode of the module, which is one of the core problems that need to be solved to realize self-reconfiguration. For the isomorphic rotating cubic structure, the discrete motion model is given and the motion space solving algorithm is derived. In order to reduce the uncertainty and complexity of the reconstruction planning problem, the hierarchical planning strategy is adopted to decompose the planning task into the upper layer planning of the intermediate design and the lower layer planning to obtain the intermediate configuration moving solution. The Kuhn-Munkres algorithm is used to realize the reconstruction planning algorithm of the upper layer planning, which makes the intermediate configuration have a small structural span, which is especially suitable for solving the reconstruction planning problem in the orbit self-reconstruction. The simulation results show the feasibility and effectiveness of the proposed planning strategy and the designed planning algorithm.

Key words: modular reconfigurable satellite, on-orbit self-reconfiguration, hierarchical planning, K-M algorithm, motion space, shortest path

CLC Number:

V423.4⁺1

WANG Bo, YE Dong, SUN Zhaowei, TANG Shengyong, CHEN Xin. Hierarchical planning for on-orbit self-reconfiguration of modular reconfigurable satellites[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2019, 40(9): 322912-322912.

References 22

[1]	王恩美,邬树楠,王晓明,等.大型卫星太阳能帆板的分布式振动控制[J]. 航空学报, 2018, 39(1):221479. WANG E M, WU S N, WANG X M, et al. Distributed vibration control for large satellite solar panels[J]. Acta Aeronautica et Astronautica Sinica, 2018, 39(1):221479(in Chinese).
[2]	常海涛, 黄攀峰,王明,等. 空间细胞机器人接管控制的分布式控制分配[J]. 航空学报, 2016,37(9):2864-2873. CHANG H T, HUANG P F, WANG M, et al. Distributed control allocation for cellular space robots in takeover control[J]. Acta Aeronautica et Astronautica Sinica, 2016, 37(9):2864-2873(in Chinese).
[3]	YIM M, SHEN W M, SALEMI B, et al. Modular self-reconfigurable robot systems[J]. IEEE Robotics & Automation Magazine, 2007, 14(1):43-52.
[4]	FUKUDA T, NAKAGAWA S, KAWAUCHI Y, et al. Self organizing robots based on cell structures-CKBOT[C]//IEEE International Workshop on Intelligent Robots. Piscataway, NJ:IEEE Press,1988.
[5]	FUKUDA T. Approach to the dynamically reconfigurable robotic system[J]. Journal of Intelligent and Robotic Systems, 1998, 1(1):55-72.
[6]	KUROKAWA H, TOMITA K, KAMIMURA A, et al. Distributed self-reconfiguration of M-TRAN Ⅲ modular robotic system[J]. The International Journal of Robotics Research, 2008, 27(3-4):373-386.
[7]	KAMIMURA A, KUROKAWA H, YOSHIDA E, et al. Distributed adaptive locomotion by a modular robotic system, M-TRAN Ⅱ[C]//IEEE/RSJ International Conference on Intelligent Robots & Systems. Piscataway, NJ:IEEE Press, 2004.
[8]	SALEMI B, MOLL M, SHEN W M. SUPERBOT:A deployable, multi-functional, and modular self-reconfigurable robotic system[C]//IEEE/RSJ International Conference on Intelligent Robots & Systems. Piscataway, NJ:IEEE Press, 2007.
[9]	ZYKOV V, MYTILINAIOS E, DESNOYER M, et al. Evolved and designed self-reproducing modular robotics[J]. IEEE Transactions on Robotics, 2007, 23(2):308-319.
[10]	SUH J W, HOMANS S B, YIM M. Telecubes:Mechanical design of a module for self-reconfigurable robotics[C]//IEEE International Conference on Robotics & Automation. Piscataway, NJ:IEEE Press, 2002.
[11]	VASSILVITSKⅡ S, KUBICA J, RIEFFEL E, et al. On the general reconfiguration problem for expanding cube style modular robots[C]//IEEE International Conference on Robotics & Automation. Piscataway, NJ:IEEE Press, 2002.
[12]	ALOUPIS G, SÉBASTIEN C, DAMIAN M, et al. Linear reconfiguration of cube-style modular robots[J]. Computational Geometry:Theory and Applications, 2009, 42(6-7):652-663.
[13]	ROMANISHIN J W, GILPIN K, CLAICI S, et al. 3D M-Blocks:Self-reconfiguring robots capable of locomotion via pivoting in three dimensions[C]//IEEE International Conference on Robotics & Automation. Piscataway, NJ:IEEE Press, 2015.
[14]	ROMANISHIN J W, GILPIN K, RUS D. M-blocks:Momentum-driven, magnetic modular robots[C]//2013 IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ:IEEE Press, 2013.
[15]	SUNG C R, BERN J, ROMANISHIN J W, et al. Reconfiguration planning for pivoting cube modular robots[C]//IEEE International Conference on Robotics and Automation. Piscataway, NJ:IEEE Press, 2015:1933-1940.
[16]	周际鹏. 一类细长桁架式航天器动力学特性研究[D]. 哈尔滨:哈尔滨工业大学,2017. ZHOU J P. Dynamic characteristics of a kind of slender truss spacecraft[D]. Harbin:Harbin Institute of Technology, 2017(in Chinese).
[17]	殷剑宏, 吴开亚. 图论及其算法[M]. 合肥:中国科学技术大学出版社, 2003. YIN J H, WU K Y.Graph theory and its algorithm[M]. Hefei:China University of Science and Technology Press, 2003(in Chinese).
[18]	PAMECHA A, CHIRIKJIAN G. A useful metric for modular robot motion planning[C]//IEEE International Conference on Robotics & Automation. Piscataway, NJ:IEEE Press, 1997.
[19]	ZHU H, ZHOU M C, ALKINS R. Group role assignment via a Kuhn-Munkres algorithm-based solution[J]. IEEE Transactions on Systems, Man, and Cybernetics-Part A:Systems and Humans, 2012, 42(3):739-750.
[20]	童俊, 单甘霖. 基于修正Riccati方程与Kuhn-Munkres算法的多传感器跟踪资源分配[J]. 控制与决策, 2012, 27(5):747-751. TONG J, SHAN G L.Study of multi-sensor allocation based on modified Riccati equation and Kuhn-Munkres algorithm[J]. Control and Decision, 2012, 27(5):747-751(in Chinese).
[21]	王海英. 图论算法及其MATLAB实现[M].北京:北京航空航天大学出版社, 2010:96-101. WANG H Y. Graph theory algorithm and its MATLAB implementation[M]. Beijing:Beihang University Press, 2010:96-101(in Chinese).
[22]	常庭懋, 韩中庚. 用"匈牙利算法"求解一类最优化问题[J]. 信息工程大学学报,2004,5(1):60-62. CHANG T M, HAN Z G. Solution to a class optimization problem by utilizing the "Hungary Calculate Way"[J]. Journal of Information Engineering University, 2004,5(1):60-62(in Chinese).

Hierarchical planning for on-orbit self-reconfiguration of modular reconfigurable satellites

PDF (PC)

Knowledge

Abstract

Cite this article

share this article

References 22

Related Articles 1

Recommended Articles

Metrics

Comments