用双四元数改进路径规划，让卫星对接更平滑安全
A Dual Quaternion based RRT* Path Planning Approach for Satellite Rendezvous and Docking
- 用双四元数直接建模六自由度运动，自然实现螺旋轨迹插值
- 在多障碍场景中路径更连续，碰撞规避能力显著提升
- 适合需要初始姿态轨迹的卫星对接任务，可作后续优化基础
本文提出一种基于采样的运动规划方法，采用双四元数表示法，在保持安全距离约束条件下，为卫星交会对接生成平滑、无碰撞的六自由度位姿轨迹。该方法将双四元数代数直接融入RRT*框架，实现对SE(3)空间中自然螺旋运动的插值。双四元数RRT*已在Python中实现，并在典型多障碍场景下验证。与分别处理平移和四元数转向的标准RRT*相比，该方法显著提升了位姿连续性和避障性能。本方法为纯运动学规划，未考虑相对轨道动力学，因此所得路径仅作为后续基于优化的轨迹规划器的初步估计，用于引入动态约束以实现实际卫星交会对接任务。
原文摘要 · Abstract (English)
This paper proposes a sampling-based motion planner that employs a dual quaternion representation to generate smooth, collision-free six-degree-of-freedom pose trajectories for satellite rendezvous and docking under keep-out zone constraints. The proposed planner integrates the dual quaternion algebra directly into an RRT* framework, thereby enabling natural screw motion interpolation in SE(3). The dual quaternion-based RRT* has been implemented in Python and demonstrated on a representative multi-obstacle scenario. A comparison with a standard RRT* using separate translation and quaternion steering highlights the enhanced pose continuity and obstacle avoidance of the proposed method. The present approach is purely kinematic in nature and does not take into account relative orbital dynamics. Consequently, the resulting path provides a preliminary estimate for a subsequent optimisation-based trajectory planner, which will refine the motion with dynamic constraints for the purpose of practical satellite rendezvous and docking missions.
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