Safety Control for Spacecraft Autonomous Rendezvous and Docking Under Motion Constraints

Dong, Hongyang; Hu, Qinglei; Akella, Maruthi R.

doi:10.2514/1.g002322

Cited by 86 publications

(34 citation statements)

References 32 publications

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“…To address this problem, docking robots to the deployed stations and recharging them attract more and more attention of the researchers in practical applications for their convenience and efficiency [10,11]. However, if the surrounding environment of the docking station is unknown or partially unknown beforehand, especially for nonholonomic robots such as autonomous underwater vehicles (AUVs) and unmanned ground vehicles, the safety of the robot in docking process may be endangered by the existing obstacles [12][13][14][15][16]. Furthermore, short-sighted collision avoidance maneuvers may also lead to the failure of docking if the docking pose adjustment is not fully considered [17][18][19].…”

Section: Introductionmentioning

confidence: 99%

“…Several efforts have been made by researchers to address the path planning problem for robots docking already [13,15,[20][21][22][23][24][25][26][27]. Among them, one of the most popular approaches is the artificial potential field (APF) method.…”

Section: Introductionmentioning

confidence: 99%

“…Another popular approach applied in robot docking is to integrate feasible curves with optimization strategies for path generation [13,25,26,28]. In this approach, the resultant path consists of several path segments which are connected to the waypoints.…”

Section: Introductionmentioning

confidence: 99%

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Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

et al. 2018

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This paper presents an integrated approach to plan smooth path for robots docking in unknown environments with obstacles. To determine the smooth collision-free path in obstacle environment, a tree structure with heuristic expanding strategy is designed as the foundation of path planning in this approach. The tree employs 3D Dubins curves as its branches and foundation for path feasibility evaluation. For the efficiency of the tree expanding in obstacle environment, intermediate nodes and collision-free branches are determined inspired by the elastic band theory. A feasible path is chosen as the shortest series of branches that connects to the docking station after the sufficient expansion of the tree. Simulation results are presented to show the validity and feasibility of the proposed approach.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

et al. 2018

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“…Another widely investigated method is the artificial potential function (APF) method. Dong et al [21] introduced a potential function and two constrained zones to plan a safe rendezvous path. An adaptive control law based on a time-varying sliding manifold was subsequently used to track the desired path.…”

Section: Introductionmentioning

confidence: 99%

Model Predictive Control to Autonomously Approach a Failed Spacecraft

Wang

Zhang

2018

International Journal of Aerospace Engineering

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In this study, a model predictive control (MPC) method is developed for a servicer spacecraft autonomously approaching a tumbling failed spacecraft at an ultraclose range. Flight safety and collision avoidance are basic requirements during the approach. Two types of a failed spacecraft with complex configurations are considered, and a double-ellipsoid composite envelope strategy is designed to model their keep-out zones. Given the keep-out zone of the servicer, two expanded ellipsoids are subsequently introduced to determine the collision and sufficient conditions for collision avoidance are derived by using the form of concave constraint. The tumbling motion of the target is considered, and a CW-based translational dynamics and derived attitude dynamics of the target are formulated to predict the motion of the docking point and keep-out zone. The MPC is formulated to drive the servicer tracking the docking point with collision avoidance and handle constraints including control input saturation and relative velocity bound. Convexification of the collision avoidance constraint and sequential convex programming are adopted for the implementation of MPC. Scenarios on the servicer with different initial positions approaching the target with different angular velocities are simulated, and the simulation results indicate that the proposed MPC method is effective.

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“…Zagaris and Romano [26] proposed a reachability analysis for planar docking onto a spinning target. The translational-only control problem of rendezvous and docking was solved by Dong et al [27] by encoding the approach and obstacle avoidance constraints into the artificial potential function and sliding mode scheme, following which an adaptive controller was implemented. A full 6-DOF control of both the translational and rotational motion is, however, necessary to achieve precise motion tracking in space.…”

Section: Previous Workmentioning

confidence: 99%

Pose Tracking Control for Spacecraft Proximity Operations Using the Udwadia-Kalaba Framework

Pothen¹

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This thesis develops an analytical dynamics-based approach for simultaneous position and orientation tracking control of a chaser spacecraft with respect to an uncontrolled target spacecraft. The control requirements are formulated as holonomic or nonholonomic constraints, which are differentiated to obtain a constraint equation linear in acceleration. Exact real-time control forces are then generated by substituting the control constraints into the Udwadia-Kalaba equation. Three major contributions are presented. Firstly, the complete six-degree-of-freedom formulation of the Udwadia-Kalaba based pose tracking controller is presented. Simulations demonstrate the achievement of the desired objectives in space. Subsequently, a planar pose tracking controller is formulated for both a single and dual chaser configuration. Simulation results highlight the planar position and orientation synchronization with respect to a spinning target. Finally, the controller is experimentally validated in the Spacecraft Proximity Operations Testbed at Carleton University. Results show that the pose tracking control objective is achieved.

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Safety Control for Spacecraft Autonomous Rendezvous and Docking Under Motion Constraints

Cited by 86 publications

References 32 publications

Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

Model Predictive Control to Autonomously Approach a Failed Spacecraft

Pose Tracking Control for Spacecraft Proximity Operations Using the Udwadia-Kalaba Framework

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