A convex-programming-based guidance algorithm to capture a tumbling object on orbit using a spacecraft equipped with a robotic manipulator
| Autor: | Andrew Bradstreet, Richard Zappulla, Josep Virgili-Llop, Marcello Romano, Costantinos Zagaris |
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| Jazyk: | angličtina |
| Rok vydání: | 2019 |
| Předmět: |
0209 industrial biotechnology
Computer science Computational guidance and control Robot manipulator 02 engineering and technology Computer Science::Robotics 020901 industrial engineering & automation Artificial Intelligence convex programming on-orbit servicing space debris space robotics 0202 electrical engineering electronic engineering information engineering Space object Electrical and Electronic Engineering Spacecraft business.industry Applied Mathematics Mechanical Engineering Object (computer science) Modeling and Simulation Convex optimization 020201 artificial intelligence & image processing Space robotics Orbit (control theory) business Algorithm Software Space debris |
| Popis: | An algorithm to guide the capture of a tumbling resident space object by a spacecraft equipped with a robotic manipulator is presented. A solution to the guidance problem is found by solving a collection of convex programming problems. As convex programming offers deterministic convergence properties, this algorithm is suitable for onboard implementation and real-time use. A set of hardware-in-the-loop experiments substantiates this claim. To cast the guidance problem as a collection of convex programming problems, the capture maneuver is divided into two simultaneously occurring sub-maneuvers: a system-wide translation and an internal re-configuration. These two sub-maneuvers are optimized in two consecutive steps. A sequential convex programming procedure, overcoming the presence of non-convex constraints and nonlinear dynamics, is used on both optimization steps. A proof of convergence is offered for the system-wide translation, while a set of structured heuristics—trust regions—is used for the optimization of the internal re-configuration sub-maneuver. Videos of the numerically simulated and experimentally demonstrated maneuvers are included as supplementary material. |
| Databáze: | OpenAIRE |
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