采用势函数的三自由度气浮模拟器追逃策略

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中图分类号：V416.8 文献标志码：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

气浮模拟器通过气浮轴承和光滑平台之间的空气薄膜，悬浮在平台上，提供一种无摩擦的环境，可模拟航天器在无重无摩擦环境下的机动，进行近距离操作空间任务的地面演示验证。（剩余12074字）