Fast cooperative angular trajectory planning for multiple on-orbit service spacecraft based on the Bezier shape-based method

In this article, a fast cooperative obstacle avoidance angular trajectory planning method is presented for multiple on-orbit service (OOS) spacecraft, which can obtain the spatial angular trajectories of multiple spacecraft in a considerably short time. For multiple OOS spacecraft equipped with the manipulator, under the constraints of the maximum control moment, multiple obstacles, dynamics, and geometry, the Bezier shape-based (SB) method is used to rapidly generate the cooperative obstacle avoidance attitude angular trajectories of all OOS spacecraft at the same time. The superiority of the proposed method is proved by comparing the results of Bezier SB method and the finite Fourier series (FFS) SB method under the same initial conditions. To further verify the effectiveness of the proposed method, the results of the Bezier method are substituted into the Gauss pseudospectral method (GPM) as the initial values to further optimize the angular trajectories in the simulation. Simulation results show that compared with the FFS SB method, the Bezier SB method can use shorter computation time to get the results of spacecraft attitude movement faster; compared with GPM, Bezier SB method only uses about 2% of computation time to get the results of movement time difference of only 2%. The method proposed in this article can be applied to complex space OOS missions, which requires multiple OOS spacecraft to rapidly realize the space obstacle avoidance attitude maneuver to complete cooperative operation missions.