Research on autonomous avoidance technique based on the waypoint optimization algorithm

During soft landing process of planet lander, it will encounter many obstacles need to control precisely. For traditional off-line design, it's very hard to handle many constrains with uncertainty. So this paper give out an online trajectory planning and guidance method to realize the autonomous obstacle avoidance to achieve flight safety. This method is an improved optimal feedback guidance algorithm based on multiple waypoints optimization algorithm. The obstacle avoidance problem is transformed into a navigation point constraint problem and derived with the specific waypoints constraint expressions to realize autonomous obstacle avoidance. Simulation results show that this method can effectively avoid the obstacles in the most fuel-efficient cases to achieve a safe landing.