Trajectory optimization for satellite reconfiguration maneuvers with position and attitude constraints

Abstract

Abstract-This paper presents an algorithm for designing spacecraft reconfiguration maneuvers, which is a difficult 6 DOF trajectory design problem with nonlinear attitude dynamics and non-convex constraints. In addition, some of the constraints couple the positions and attitudes of the spacecraft, which makes the problems high-dimensional. The essential feature of the design methodology is the separation into a simplified path planning problem obtaining a feasible solution, then improving it significantly by a smoothing operation. The first step is solved using a Rapidly-exploring Random Tree. The smoother then optimizes the trajectories by iteratively solving a linear program using a linearization of the cost function, dynamics, and constraints about the initial feasible solution. Examples are presented to demonstrate the validity of the approach for complex problems with four spacecraft.

Two-stage path planning approach for solving multiple spacecraft reconfiguration maneuvers

“…This paper extends the approach developed in Ref. [21,22] by efficiently solving the nonlinear problem instead of linearizing it.…”

“…But the application of RRTs on spacecraft reconfiguration problems was limited to 1) a problem involving a single spacecraft with no pointing constraints [19], 2) a problem considering the attitude maneuver of one spacecraft [16], and 3) a multispacecraft reconfiguration problem that solves for only the translation trajectory [20]. It is only very recently that the more general case of combined translation and attitude reconfiguration of multiple spacecraft problems has been addressed using RRTs [21,22]. This approach consists of a two-stage planning algorithm, similar to the one developed in this research.…”

“…When addressing these two types of constraints simultaneously, the problem is known as kinodynamic motion planning [33], which has been traditionally implemented using two common approaches: "two-stage" planning and "state-space" formulation [33,34]. Unlike the state-space approach, where the dynamic constraints are taken into account from the start of the algorithm [35,36], the twostage formulation consists of first finding a feasible path that satisfies the kinematic constraints, and then optimizing this path to include the dynamic constraints [21,37]. This paper develops a two-stage approach for solving reconfiguration maneuvers of multiple spacecraft.…”

“…Kinematic constraints address the motion of the spacecraft under consideration, but ignore the forces behind the motion, which are captured in the dynamic constraints. Path planning for reconfiguration maneuvers is a challenging task even when considering each set of constraints individually [21]. When addressing these two types of constraints simultaneously, the problem is known as kinodynamic motion planning [33], which has been traditionally implemented using two common approaches: "two-stage" planning and "state-space" formulation [33,34].…”

Relative Motion Integrated Coupled Control for Spacecraft Formation Using Gauss Pseudospectral Method

“…4) Subsystem inter-dependencies coupling includes dependence of thrust direction on installation matrix and spacecraft attitude. Furthermore, the spacecraft must satisfy certain attitude restrictions in the region of the sky where instruments can point or restrictions on pointing towards other spacecraft for communications 3) or plume avoidance. For example, the star camera cannot point at the sun due to high requirements for attitude determination accuracy (Fig.…”