Cooperative Obstacle Avoidance of a new Multi-node Flexible lander for Asteroid Landing

Asteroids have the characteristics of weak gravity, and complex obstacles on the surface, which will cause difficulties in lander avoiding obstacles and landing. Recently, a new type of multi-node flexible lander has been proposed, hoping to improve landing robustness by configuring multiple controllable nodes and flexible connections. For this new lander, the linearized dynamic model is first constructed, and its flat output is determined. Then, a cooperative trajectory planning method based on vector field is designed to avoid collision. Finally, the simulation results are presented to verify that the proposed cooperative obstacle avoidance method can effectively realize the obstacle avoidance of the new lander.