Maneuver Path Research Articles

Data analysis of tactical wargaming based on data mining

In order to effectively solve the problem of acquiring knowledge from tactical wargaming data, an overall analysis framework is designed based on the standard process of data mining. The data is analyzed from four aspects: time, space, maneuver path and multi-operator behavior correlation. The behavioral characteristics of single operators at different stages and the spatial distribution of key points such as shooting points, hit points and hidden points, and the association rules of movement, shooting, and occupation between multiple operators are obtained. This will provide commanders with experience and knowledge, help them to quickly accumulate combat experience, and provide behavior rules and action modes for the development of wargaming AI, effectively improving its intelligent level.

Spacecraft attitude reorientation control method based on potential function under complex constraints

A large number of sensors carried by spacecraft are facing the risk of irradiation, which may lead to the failure of sensors and affect the mission of the spacecraft. Therefore, it is significant to make the sensor work safely by attitude maneuvers. This article proposes a guidance algorithm for the attitude reorientation of rigid spacecraft, which aims to reduce the conservativeness of the traditional potential function and to solve the problem of the goal being non reachable with obstacles nearby (GNRON). While the rationality of the form design of the potential function is analyzed from the view of numerical calculation, a modified inverse-proportional potential function is designed based on it. Additionally, the anti-unwinding attitude error function is established to avoid the unwinding phenomenon of quaternions. In this paper, a set of weight assignment schemes for the potential function is proposed to obtain the maneuver path close to the edge of the attitude-forbidden zone, which reduces the conservativeness and energy consumption compared with the traditional method. Finally, the scheme can also solve the GNRON phenomenon. In the fourth section, the form design of the potential function is studied by numerical simulation, and the performance of the proposed algorithm is shown by comparative experiments.

Fixed-time coordinated guidance for containment maneuvering of unmanned surface vehicles under delayed communications: Theory and experiment

The purpose of this paper is to develop a new cooperative controller to solve the containment maneuvering problem for multiple unmanned surface vehicles (USVs) that track one parameterized path in a fixed time. The required velocities and heading angles of the USVs are designed based on Line-of-Sight (LOS) guidance laws. To steer along-track errors and cross-track errors to certain sets in fixed time, the coordinated guidance laws are derived by tan-type barrier Lyapunov functions (BLFs). For the coordination level, time-delayed coordination update laws are proposed for containment maneuvering. Comparing with the current containment maneuvering, the main features are: (i) LOS-based guidance laws are improved with the performance of fixed-time convergence, the convergence time can be determined by user-defined time; (ii) A novel containment maneuvering path variable controller is derived with time delays and without the assumption of setting individual paths following errors to be 0. (iii) the advantages of the proposed containment maneuvering control strategy are illustrated both through theoretical analysis and experimental result.

Anti‐unwinding nonsingular terminal sliding mode control with attitude maneuver planning for flexible spacecraft

AbstractIn this article, a novel control approach with a dynamic parameter and an attitude maneuver planning scheme is proposed for flexible spacecraft to achieve anti‐unwinding attitude maneuver control and vibration suppression. In order to suppress the flexible modal vibration of the flexible spacecraft during the attitude maneuver, an attitude maneuver path is planned by the proposed attitude maneuver planning scheme with four input impulses satisfying some conditions. For tracking the planned reference attitude maneuver path without unwinding phenomenon, a robust attitude maneuver controller with a dynamic parameter is proposed based on a novel switching function which contains terminal and non‐terminal sliding manifolds. Besides, the obtained sliding surface contains two equilibria. Finite‐time convergence and unwinding‐free performance of the closed‐loop system are analyzed by Lyapunov theory. The simulation results demonstrate that the proposed attitude control scheme possesses robustness and anti‐unwinding performance. Besides, the flexible vibration can be suppressed by tracking the planned attitude maneuver path.

Adaptive connected hierarchical optimization algorithm for minimum energy spacecraft attitude maneuver path planning

Adaptive connected hierarchical optimization algorithm for minimum energy spacecraft attitude maneuver path planning

A spacecraft attitude maneuvering path planning method based on PIO-improved reinforcement learning

<p indent="0mm">Aiming at the problem of spacecraft attitude maneuver planning under multiple mandatory pointing constraints and prohibited pointing constraints, based on pigeon-inspired optimization (PIO), we proposed an improved policy gradient reinforcement learning (RL) algorithm (PIOPGRL). First, we establish an angle-based attitude constraint model, and then, we establish the reward function of RL based on the model. Then, the fitness function is used to replace the policy evaluation function, so PIOPGRL is integrated with RL. The PIOPGRL algorithm uses the PIO algorithm to solve the policy gradient, significantly reduces the amount of calculation and accelerating the convergence speed. The simulation results show that the spacecraft attitude maneuvering path planning method based on PIO-improved RL (PIOPGRL) has better planning results and lower cost of maneuver than the classical PGRL algorithm, which can solve the problem of spacecraft attitude maneuver planning under multiple pointing constraints perfectly.

A pointing-based method for spacecraft attitude maneuver path planning under time-varying pointing constraints

The requirement to observe moving targets raises the time-varying pointing constraint for spacecraft attitude maneuver, which is seldom considered in existing attitude maneuver path planning methods. Therefore, a pointing-based method for attitude maneuver path planning under time-varying pointing constraints is proposed. Considering that pointing constraints are exerted on the perceptional sensor of spacecraft, an improved rapidly-exploration random tree method is designed to obtain the rotational pointing nodes while satisfying the pointing constraints. To this end, the key point is to define the time property of sampled nodes to determine their relations with time-varying constraints. Subsequently, the attitude quaternion nodes are generated according to pointing nodes. Finally, to find a continuous quaternion curve passing through quaternion nodes, component-wise and piecewise quaternion interpolation functions are adopted to calculate the angular velocity and control torque by the inverse dynamics method. The attitude motion spherical shell is designed by using the radial component to represent the timeline to visually display the satisfaction of time-varying constraints. Simulation results are used to validate the feasibility of the proposed method.

In-Motion Alignment Method of SINS Based on Improved Kalman Filter under Geographic Latitude Uncertainty

To realize the in-motion alignment of the strapdown inertial navigation system (SINS) under the geographic latitude uncertainty, we propose a latitude estimation and in-motion alignment method based on the integral dynamic window and polynomial fitting (IDW-PF) and improved Kalman filter (IKF). First, the integral dynamic window (IDW) is designed to smooth out the high-frequency line motion interference and accelerometer noise. Second, the specific force integral is performed for a cubic polynomial fitting (PF) with time as an independent variable to further suppress the line motion interference. Simultaneously, the latitude is estimated according to the geometric relationship between the angle of the gravitational acceleration vectors at different moments and the latitude. Finally, the IKF based on the multi-fading factor is designed for the in-motion alignment of SINS. A simulation experiment is conducted to verify the proposed latitude estimation and in-motion alignment method. The results indicate that the latitude can be estimated well by the method based on the IDW-PF; the mean and standard deviation of the estimated latitude can achieve −0.016° and 0.013° within 300 s. The trapezoidal maneuvering path is optimal when IKF is used, the pitch error is 0.0002°, the roll error is 0.0009° and the heading error is −0.0047° after the alignment ends at 900 s.

Optimal Search for Underwater Targets for Ships Equipped with Hull Mounted Sonar Using Genetic Algorithm

When a surface ship utilizes a hull-mounted sonar (HMS) to search for a target located in the water at sea, the maneuver path of the surface ship depends on the maximum detection range of the sonar. Because sonar utilizes sound waves, it is significantly influenced by the marine environment and the detection probability depends on the location and sound wave incident angle of the target. This study aims to calculate the detection probability by applying the actual marine environment, and proposes an optimal search path calculation method that maximizes the detection probability based on a genetic algorithm. The proposed optimal search path calculation method was proven to be effective via simulations in determining the optimal search.

Flight Trajectories Optimization of Fixed-Wing UAV by Bank-Turn Mechanism

This paper addresses an optimization of Unmanned Aerial Vehicle (UAV) flight trajectories by bank-turn mechanism for a fixed-wing UAV at a constant altitude. The flight trajectories should be optimal and stay in the UAV flight operational area. The maneuver planning is conducted in two steps, which are UAV path planning and UAV flight trajectory planning. For the first step, the Bezier curve is employed as a maneuvering path. The path planning optimization objective is to minimize the path length while satisfying maximum curvature and collision avoidance constraints. The flight trajectories optimization objective is to minimize maneuvering time and load factor considering, minimum/maximum speed, minimum/maximum acceleration, maximum roll angle, maximum turn rate, and aerodynamics constraints. The variable speed trajectory generation is developed within allowable speed zone considering these UAV flight constraints by employing meta-heuristic optimizations. Results show that the PSO have outperformed the GA and the GWO for both steps of path planning and trajectory planning. The variable speed has succeeded in reducing the load factor during the bank-turn mechanism using the Bezier curve. The variable speed is recommended to be conducted when the result of the maneuvering path involve the lower turning radius. A simultaneous on arrival target mission has also succeeded to be conducted using the combination of the variable speed and constant speed strategies.

Application of the Improved Grey Wolf Algorithm in Spacecraft Maneuvering Path Planning

In many space missions, spacecraft are required to have the ability to avoid various obstacles and finally reach the target point. In this paper, the path planning of spacecraft attitude maneuver under boundary constraints and pointing constraints is studied. The boundary constraints and orientation constraints are constructed as finite functions of path evaluation. From the point of view of optimal time and shortest path, the constrained attitude maneuver problem is reduced to optimal time and path solving problem. To address this problem, a metaheuristic maneuver path planning method is proposed (cross-mutation grey wolf algorithm (CMGWO)). In the CMGWO method, we use angular velocity and control torque coding to model attitude maneuver, which increases the difficulty of solving the problem. In order to deal with this problem, the grey wolf algorithm is used for mutation and evolution, so as to reduce the difficulty of solving the problem and shorten the convergence time. Finally, simulation analysis is carried out under different conditions, and the feasibility and effectiveness of the method are verified by numerical simulation.

Rapid search method for a spacecraft attitude maneuver path with multiple constraints

The rapid attitude maneuver capability of spacecraft is required in many space missions. Due to the complex attitude constraints and limited satellite resources, the rapid on-orbit attitude maneuver is very challenging for spacecraft attitude control systems. To address this problem, a rapid attitude path search method named Constraint Path Mapping (CPM) is proposed to quickly obtain a safe attitude path. In the CPM method, the attitude constraint safety-mapping strategy is designed to map the attitude constraint space to the attitude safety space, allowing for efficient planning and improved processing of complex attitude constraints. For resource use, this paper adopts the Euler forward search and node safety search to avoid algorithm redundancy caused by the repeated processing of the constraints. Finally, the numerical simulation is performed to validate the feasibility and effectiveness of the proposed method. In particular, this method is expected to be tested on a reconnaissance satellite launched by the Shanghai Institute of Satellite Engineering in March 2021.

Collaborative mission optimization for ship rapid search by multiple heterogeneous remote sensing satellites

&lt;p style='text-indent:20px;'&gt;Multiple heterogeneous satellites mission optimization is a typical kind of non-deterministic polynomial-time hard (NP-hard) problem, and some complicated scenarios bring new challenges. A novel method of missing ship rapid search using multiple grouped heterogeneous satellites is introduced in this paper. The focus is on optimization of collaborative mission optimization for various satellites including low-earth orbit (LEO) satellite and geostationary orbit (GEO) satellites. A fast coverage of the wide sea area using imaging satellites with narrow coverage range has become the most important part to tackle this problem. However, due to different imaging mechanisms of heterogeneous satellites and other constraints, it brings a great challenge to construct the optimization model. A constrained optimization problem model considering the cooperation between LEO and GEO satellites is constructed. A solution strategy based on bi-level metaheuristic algorithm is designed. The time optimal solution of the collaborative task planning between LEO and GEO satellites can be obtained based on the optimal attitude maneuver path of GEO satellites. Thus, wide-area search for missing ships can be conducted in an effective way. The effectiveness of the proposed method is verified by an example.&lt;/p&gt;

Safe and Efficient Lane Change Maneuver for Obstacle Avoidance Inspired From Human Driving Pattern

One of the most important and fundamental topics in autonomous navigated vehicle research is the lane change maneuver for obstacle avoidance or overtaking maneuver. In the literature, the lane change maneuver path for car-like vehicles has widely been generated with geometrically smooth segments by solving boundary conditions under given constraints. This paper proposes a new method of continuous curvature path generation for the issue of lane change maneuver for obstacle avoidance while solving the clothoids composition problem using an efficient algorithmic procedure. Conventional approaches resorting to mathematical or engineering optimization without considering human-side activity and response may fail to deliver driving performance that is favorable to humans. The novelty of the proposed method lies in its adoption of a human driving pattern, which is non-symmetric and composed of two different modes of <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">avoidance</i> and <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">recovery</i> during the maneuver, and utilizes the property given by an appropriate iterative algorithm which takes into account all the constraints in order to solve the problem. As compared to conventional methods, the proposed method not only provides overall safety for obstacle avoidance, but also exhibits efficiency of increased comfort and human like steering motion during the lane change maneuver. The proposed path planning method is compared to other methods in order to validate its efficiency for safe and smooth obstacle avoidance maneuver.

Semi-Autonomous Parking system for Automatic Transmission vehicles

This paper proposes an automated perpendicular parking strategy for a car which is to be designed. The design considers general cases of perpendicular parking for a rectangular body within a rectangular space. The system works in phases named: The Scanning phase, the parking environment is detected by ultrasonic sensors mounted on the extreme ends of body and a parking position and maneuvering path is produced if the space is enough. Then in the positioning phase, the model positions itself and get aligned with the parking space avoiding potential collisions. Finally, in maneuvering phase, the model moves to the parking position in the parking space in a specified path, which requires clutch, brake control, backward and forward maneuvers depending on the dimensions of the parking space. Based on the characteristics, a collision-free path is planned about the surroundings. The strategy is to be integrated into an automated parking system, and implemented in the car, showing capable of safe parallel parking in tight situations and as automated parking device to help vehicle drivers.

Multiobjective planning for spacecraft reorientation under complex pointing constraints

The spacecraft is required to optimize some performance indexes during the attitude maneuver in many space missions. Moreover, the presence of the bounded and pointing constraints will greatly reduce the feasible attitude space. It is difficult to solve the optimal spacecraft reorientation under complex multiple constraints. The notion of the rotational-path geometric-reasonableness is proposed to evaluate the quality of the maneuver path in terms of its geometric characteristics, which involve the path length and path unwinding in this paper. Considering the rotational-path geometric-reasonableness and energy consumption, this paper addresses the multiobjective spacecraft reorientation planning problem with constraints and proposes a new dynamic-iteration-based multiobjective planning (DIMP) method. Through the iterative quadratic programming approach with the dynamic termination criteria, the proposed method first generates a multiobjective suboptimal solution that does not consider the pointing constraints. Then the final solution under the keep-in and keep-out constraints is yielded via multiple rotational-path decomposition and iterative planning. Simulation results demonstrate the high efficiency of the proposed method, which can obtain a high-quality and low-energy solution.

Integration planning of gimbal angle and attitude motion for zero propellant maneuver under attitude and control moment gyroscope constraints

Zero propellant maneuver is an advanced concept of large spacecraft attitude control that has recently been applied to International Space Station. The objective of this paper is the zero propellant maneuver path planning of space station under attitude and control moment gyroscope constraints. First, a multi-constraint model of zero propellant maneuver with single gimbal control moment gyroscopes is established. Then, an integrated planning algorithm of gimbal angle and attitude motion is proposed: Local Control Differential Evolution. The algorithm can simultaneously handle attitude constraints and control moment gyroscope constraints to obtain an attitude path that satisfies the attitude constraints and a gimbal angle path that is far from singularity and saturation. In addition, the algorithm combines the local control algorithm with the global differential evolution algorithm. The local control algorithm based on the potential function idea can better deal with local attitude obstacle constraints, and the global optimization algorithm based on the improved differential evolution algorithm can perform global gimbal angle optimization. Finally, simulation results show that the method is effective in dealing with both attitude and control moment gyroscope constraints.

A Variable-Diameter-Arc-Helix Radon Transform for Detecting a Near Space Hypersonic Maneuvering Target

For detection and tracking of a near space hypersonic maneuvering target in a heavy clutter environment, a novel transform domain method called Variable-Diameter-Arc-Helix Radon Transform (VDAH-RT) is proposed as a tool to integrate observations along the maneuvering path. Considering the 3D maneuvering trajectory is like a variable diameter arc helix, the trajectory of near space hypersonic target can be modeled by a variable diameter arc helix. Since the maneuvering parameters are unknown, variable diameter arc helixes with different parameters can be used to match the maneuver track. Using the idea of Radon Transform(RT), the problem of maneuvering trajectory detection and tracking is transformed into the energy peak detection problem in VDAH-RT parameter domain. This Variable-Diameter-Arc-Helix Radon Transform (VDAH-RT) technique extends the RT or HT(Hough Transform) for straight-line features detection to an arbitrary curve trajectory. The results demonstrate that the proposed algorithm provides great advantage in the detection and tracking of a hypersonic maneuvering dim target.

Energy-optimal spacecraft attitude maneuver path-planning under complex constraints

The objective of this study is an energy-optimal attitude maneuver path for rigid body spacecraft under complex constraints. Complex attitude constraints are first established; the attitude pointing constraints are written in non-convex quadratic form. The constrained attitude maneuver problem is then formulated as the non-convex quadratically constrained quadratic programming problem which targets the minimal energy-cost. An improved differential evolution algorithm is then built which utilizes the standard DE algorithm from the F value of the mutation operator and the crossover operator CR value to enhance the mutation strategy and ultimately obtain a near-optimized solution to the problem. Simulation results show that this method not only satisfies the complex attitude constraints, but also reveals the optimal path for global attitude optimization. It also consumes relatively little energy with remarkable efficiency.

An attitude algorithm based on the band seamless splicing imaging for agile satellite

In order to realize fast maneuvering imaging of the target area with high resolution agile satellite, a new attitude matching algorithm is developed. A strict mosaic imaging model of ray trace and the velocity vector mapping are built according to the strip mosaic imaging principle and the relationship between imaging target and the camera focal plane. The three-axis attitude is deduced based on the principle of optimal tracking of the maneuvering path. Finally, the geometric scaling simulation is carried out through the time delayed and integration (TDI) charge coupled device (CCD) prototype system, satellite attitude control physical simulation platform and the LED earth target simulator. The experimental results show that the algorithm could realize the matching band seamless splicing imaging of the target very well, confirming the correctness of the algorithm.