Autonomous control for on-orbit assembly using potential function methods

Autor:	Frank McQuade, Colin R. McInnes
Rok vydání:	1997
Předmět:	Flexibility (engineering) education.field_of_study Engineering business.industry Population Aerospace Engineering Function (mathematics) Translation (geometry) Robot control Control theory Orbit (dynamics) Robot education business Rotation (mathematics)
Zdroj:	The Aeronautical Journal. 101:255-262
ISSN:	2059-6464 0001-9240
DOI:	10.1017/s0001924000066288
Popis:	Potential function methods have been applied extensively to many terrestrial and space robot control problems. This paper extends these methods to multiple robot problems for on-orbit assembly. By considering a population of free-flying robotic vehicles in orbit, capable of both rotation and translation, the potential function method reduces complex assembly problems to sets of simple translation and rotational commands. This is achieved using a potential function incorporating both collision avoidance between the free-flyers and connection constraints in the assembled structure. The method also allows a subsumptive type control architecture with the flexibility to carry out many different assembly tasks simultaneously.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::550c540a3bac5d6e59f33e5a49e56639 https://doi.org/10.1017/s0001924000066288 Zobrazit plný text záznamu