空间控制技术与应用（中英文）2026，Vol.52Issue(1)：1-15,15.DOI:10.3969/j.issn.1674-1579.2026.01.001
空间站多飞行器协同转移与贴表飞行规划方法
A Trajectory Planning Method for Cooperative Multi-spacecraft Orbital Transfer and Surface-Tracking Proximity Operations Around a Space Station
摘要
Abstract
This paper addresses the trajectory transfer and proximity flight problems of multi-spacecraft swarms operating in large-scale,complex,and unstructured space-station environments.A cooperative trajectory planning method is proposed,combining long-range minimum fuel transfer with attitude-constrained safe flight in proximal regions.Based on Fibonacci-sphere sampling and the Clohessy-Wiltshire(CW)equations,a fuel-optimal cooperative transfer is achieved from the initial states of multiple spacecraft to the circumscribed sphere of the space station.An A*-based path search algorithm with attitude-feasibility checking is employed to identify narrow regions that require specific attitudes for traversal,based on which a safe flight corridor(SFC)is constructed.Taking the SFC as a hard constraint and the CW equations as soft constraints,dynamically feasible trajectories are generated using a minimum-snap optimization method.Simulation results demonstrate that,compared with conventional spherical-envelope planning and fixed-time transfer strategies,the proposed method effectively reduces fuel consumption and significantly improves spacecraft navigability through narrow structural gaps as well as trajectory smoothness.The method is suitable for cooperative proximity-flight tasks of multi-agent systems in unstructured environments and provides reliable technical support for future space-station on-orbit servicing and cluster operations.关键词
多智能体/安全飞行走廊/轨迹规划/轨迹优化Key words
multi-agent/safe flight corridor/trajectory planning/trajectory optimization分类
航空航天引用本文复制引用
李隆康,胡海霞,解永春,王勇..空间站多飞行器协同转移与贴表飞行规划方法[J].空间控制技术与应用（中英文）,2026,52(1):1-15,15.基金项目
国家自然科学基金资助项目(U24B6014) Natioal Natural Science Foundation of China(U24B6014) （U24B6014）
