Nonlinear Optimal Trajectory Planning for Free-Floating Space Manipulators using a Gauss Pseudospectral Method

Crain, Alexander; Ulrich, Steve

doi:10.2514/6.2016-5272

Cited by 5 publications

(5 citation statements)

References 10 publications

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“…By introducing the concept of rotation window, the unexpected interference between different obstacles and the mismatch between the hyperplane rotation and spacecraft maneuver can be effectively relieved. Furthermore, the overlaps of different rotation windows can be well-regulated by setting appropriate coefficients ζ in equation (17). In addition, the feasible space of multi-obstacle scenario is the intersection of multiple hyperplane constraints at each step, which can also be proved to be a convex set.…”

Section: Improved Rh Methodsmentioning

confidence: 99%

“…The second method converts collision avoidance problem into an optimization problem with path constraints and then solved it by nonlinear programming (NLP) algorithms. Limited by onboard computing resources, multiple approaches have been studied in aerospace systems to improve online computational efficiency, including differential flatness method, 14,15 pseudospectral method, 16,17 and inverse dynamics optimization method. 18,19 Among the existing approaches, model prediction control (MPC) method has attracted increasing attention due to its conceptual elegance and significant advances in real-time applicability.…”

Section: Introductionmentioning

confidence: 99%

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Online collision avoidance trajectory planning for spacecraft proximity operations with uncertain obstacle

Zhang

Cai

Lee

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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The spacecraft relative motion trajectory planning is one of the enabling techniques for autonomous proximity operations, especially in the increasingly complicated mission environments. Most traditional trajectory planning methods focus on improving the performance criteria in the deterministic conditions, whereas various uncertain elements in practice would significantly degrade the trajectory performance. Considering the uncertainties underlying the collision avoidance constraints, this paper suggests a model predictive control based online trajectory planning framework in which the obstacle information in higher-precision would be consistently updated by the onboard sensor. To improve the computational efficiency of the online planning framework, the rotating hyperplane (RH) technique is utilized to transform the nonlinear ellipsoidal keep-out zone constraints into convex formulations. And the concept of rotation window is introduced to eliminate the unexpected mismatch between the spacecraft motion and hyperplane rotation in the conventional RH method, which in sequence improves the RH method’s capability for multiple obstacle avoidance problem. Moreover, a three-dimensional (3-D) extension strategy is proposed to simplify the computation procedure when applying the RH method for a 3-D collision avoidance problem. Numerical simulations are carried out to validate the performance of the proposed online trajectory planning framework in addressing the uncertain collision avoidance constraints.

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Section: Improved Rh Methodsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Online collision avoidance trajectory planning for spacecraft proximity operations with uncertain obstacle

Zhang

Cai

Lee

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part G:

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show abstract

“…Similar to the work published by Cascio [13], Flores-Abad et al [16] solved the nonlinear optimization problem using the software package TOMLAB. These results were independently validated by Crain and Ulrich [17], in which the nonlinear optimization problem was solved using the software package GPOPS-I, and it was determined that both tools converged to approximately the same local minimum.…”

Section: Introductionmentioning

confidence: 90%

“…The nonlinear problem to be addressed takes into consideration the constraints on the system while minimizing the final attitude. Contrary to past work in this area [16,17], the minimization of any running costs is ignored in favor of simply minimizing the endpoint of the attitude. By minimizing the endpoint, the manipulator is less constrained in terms of potential trajectories, thus reducing the overall computational effort required to converge to a solution.…”

Section: Introductionmentioning

confidence: 99%

Experimental Validation of Pseudospectral-Based Optimal Trajectory Planning for Free-Floating Robots

Crain

Ulrich

2019

Journal of Guidance, Control, and Dynamics

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This paper proposes the use of pseudospectral methods to solve the nonlinear trajectory planning problem for freefloating robots. Specifically, three different optimization tools are analyzed. Using each tool, simulations are performed, and it is shown that each solver is capable of finding a deployment trajectory that minimizes the final attitude of a free-floating robot. Each solution is then validated using Pontryagin's minimum principle and Bellman's principle of optimality, as well as by propagating the control torques using a numerical integrator and the dynamics model. Experimental validation is performed at Carleton University's Spacecraft Robotics and Control Laboratory to further investigate the solutions obtained from each tool. Ultimately, it was determined that all solutions resulted in a reduced attitude disturbance at the end of the robotic deployment maneuver.

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“…Similar to the work published by Cascio [13], Angel et al [16] solved the nonlinear optimization problem using the software package TOMLAB. These results were independenly validated by Crain and Ulrich [17], where the nonlinear optimization problem was solved using the software package GPOPS-I, and it was determined that both tools converged to approximately the same local minimum.…”

Section: Optimal Trajectory Planningmentioning

confidence: 78%

Optimal Trajectory Planning and Compliant Spacecraft Capture Using a Space Robot

Crain¹

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This work is dedicated to my entire family; you've all been there to support me in your own ways, and I love you all.ii Abstract Due to the ever-increasing volume of on-orbit debris, determining viable means of capturing and removing said debris has become vital. This thesis proposes solutions to the first two of three phases during debris removal: namely, deployment of a robotic manipulator, and the capture of a target spacecraft.

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Nonlinear Optimal Trajectory Planning for Free-Floating Space Manipulators using a Gauss Pseudospectral Method

Cited by 5 publications

References 10 publications

Online collision avoidance trajectory planning for spacecraft proximity operations with uncertain obstacle

Online collision avoidance trajectory planning for spacecraft proximity operations with uncertain obstacle

Experimental Validation of Pseudospectral-Based Optimal Trajectory Planning for Free-Floating Robots

Optimal Trajectory Planning and Compliant Spacecraft Capture Using a Space Robot

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