PSO-Based Soft Lunar Landing with Hazard Avoidance: Analysis and Experimentation
| Autor: | Dario Spiller, Andrea Carbone, Andrea D’Ambrosio, Fabio Curti |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Hazard (logic)
Soft landing Computer science Aerospace Engineering Terrain 02 engineering and technology Moon landing hazard detection and avoidance 01 natural sciences Inverse dynamics 0203 mechanical engineering Control theory lunar landing 0103 physical sciences space systems trajectory optimization 010303 astronomy & astrophysics Motor vehicles. Aeronautics. Astronautics 020301 aerospace & aeronautics particle swarm optimization Particle swarm optimization TL1-4050 Trajectory optimization Trajectory aerospace engineering real-time experimental applications |
| Zdroj: | Aerospace, Vol 8, Iss 195, p 195 (2021) Aerospace Volume 8 Issue 7 |
| ISSN: | 2226-4310 |
| DOI: | 10.3390/aerospace8070195 |
| Popis: | The problem of real-time optimal guidance is extremely important for successful autonomous missions. In this paper, the last phases of autonomous lunar landing trajectories are addressed. The proposed guidance is based on the Particle Swarm Optimization, and the differential flatness approach, which is a subclass of the inverse dynamics technique. The trajectory is approximated by polynomials and the control policy is obtained in an analytical closed form solution, where boundary and dynamical constraints are a priori satisfied. Although this procedure leads to sub-optimal solutions, it results in beng fast and thus potentially suitable to be used for real-time purposes. Moreover, the presence of craters on the lunar terrain is considered therefore, hazard detection and avoidance are also carried out. The proposed guidance is tested by Monte Carlo simulations to evaluate its performances and a robust procedure, made up of safe additional maneuvers, is introduced to counteract optimization failures and achieve soft landing. Finally, the whole procedure is tested through an experimental facility, consisting of a robotic manipulator, equipped with a camera, and a simulated lunar terrain. The results show the efficiency and reliability of the proposed guidance and its possible use for real-time sub-optimal trajectory generation within laboratory applications. |
| Databáze: | OpenAIRE |
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