采用勢(shì)函數(shù)的三自由度氣浮模擬器追逃策略

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中圖分類號(hào)：V416.8 文獻(xiàn)標(biāo)志碼：A DOI：10.12305/j.issn.1001-506X.2025.05.27

Abstract：Aiming at the problem of ground verification of spacecraft proximity operation algorithms and pursuit-evasion in close range，a three degres-of-freedom （3-DOF）microgravity floating simulator is developed，and the pursuit strategy and evasion strategy based on potential function introducing virtual boundary obstacles are proposed.The proposed method makes use of the properties of potential function effectively to avoid obstacles in the environment whilepursuing evader and constrains the motion inthe limited ground space.The experimental results show that the pursuer can pursue the evader，and is consistent with the simulationresults，and proves thatthe experimental platform canbeused to test the maneuver controlalgorithm and also verifies the effectiveness of the proposed pursuit and evasion strategy based on potential function.

Keywords：floating simulator；potential function；pursuit-evasion strategy；virtual obstacle

0 引言

氣浮模擬器通過(guò)氣浮軸承和光滑平臺(tái)之間的空氣薄膜，懸浮在平臺(tái)上，提供一種無(wú)摩擦的環(huán)境，可模擬航天器在無(wú)重?zé)o摩擦環(huán)境下的機(jī)動(dòng)，進(jìn)行近距離操作空間任務(wù)的地面演示驗(yàn)證。（剩余12074字）