Sequential Convex Optimization Based Spacecraft Formation Reconfiguration with Collision Avoidance

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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.