A Pose Synchronization Control Method for the Approach Phase of Lunar Lander

Aiming at the problem of autonomous obstacle avoidance in the approach phase of lunar soft landing, a dynamic autonomous obstacle avoidance strategy of"open-loop first, closed-loop afterwards " is proposed in the accurate obstacle avoidance stage, and the pose synchronization control problem in the open-loop control stage of this strategy is studied First, establishing the dynamic model of the approach phase in the local coordinate system of the target point, and on this basis, describing the field-of-view constraint of the visual sensor, boundary conditions and performance index in the pose synchronization optimal control problem. Then based on the improved salp swarm algorithm (ISSA) and the compound penalty function, the global optimization of the pose synchronization optimal control problem is performed Finally, a variety of simulation examples are used to verify the performance of the proposed algorithm, and the simulation results show the effectiveness of the designed algorithm.