Sequential Convex Optimization Based Spacecraft Formation Reconfiguration with Collision Avoidance

Abstract

Aiming at the problem of cooperative formation reconfiguration of multiple spacecraft under the constraints of collision avoidance and controller saturation, a formation reconfiguration strategy based on sequential convex optimization is proposed. Based on the CW equation, a multi-spacecraft formation reconfiguration model is constructed, and the formation reconfiguration problem is transformed into a nonlinear programming problem; the dynamic equations are linearized and discretized, and the collision avoidance constraints are decoupled and convexized which transforming the non-convex optimization problem into a convex optimization problem; a formation reconstruction strategy based on sequential convex optimization is proposed. Finally, numerical simulations effectively verify the effectiveness of the aforementioned strategy.