Obstacle Avoidance with Potential Field Applied to a Rendezvous Maneuver
Source abstract
Abstract
This paper outlines a method based on the theory of artificial potential fields combined with sliding mode techniques for spacecraft maneuvers in the presence of obstacles. Guidance and control algorithms are validated with a six degree-of-freed (dof) omorbital simulator. The idea of this paper is to provide computationally efficient algorithms for real time applications, in which the combination of Artificial potential field (APF) and sliding mode control shows the ability of plan trajectories, even in the presence of external disturbances and model uncertainties. A reduced frequency of the proposed controllers and a pulse width modulation (PWM) of the thrusters are considered to verify the performance of the system. The computational performance of APF as a guidance algorithm is discussed and the algorithms are verified by simulations of a complete rendezvous maneuver. The proposed algorithm appears suitable for the autonomous, real-time control of complex maneuvers with a minimum on-board computational effort.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Spacecraft Dynamics and Control · Space Satellite Systems and Control · Astro and Planetary Science
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy
National Council of Research, Institute of Electronics, Computer and Telecommunication Engineering (CNR–IEIIT), Corso Duca degli Abruzzi 24, 10129 Torino, Italy
References (28)
Show source-provided references
1. Hacker, B.C. (1977). On the Shoulders of Titans: A History of Project Gemini.
2. Young, K.A., and Alexander, J.D. (1970). Apollo Lunar Rendezvous, American Institute of Aeronautics and Astronautics.10.2514/6.1970-26 ↗
3. Ezell, E.C., and Ezell, L.N. (2013). The Partnership: A NASA History of the Apollo-Soyuz Test Project, Courier Corporation.
4. ATV GNC during rendezvous
5. Ueda, S., Kasai, T., and Uematsu, H. (2010, January 2–5). HTV rendezvous technique and GNC design evaluation based on 1st flight on-orbit operation result. Proceedings of the AIAA/AAS Astrodynamics Specialist Conference, Toronto, ON, Canada.10.2514/6.2010-7664 ↗
6. Hall, R., and Shayler, D. (2003). Soyuz: A Universal Spacecraft, Springer Science & Business Media.
7. Miotto, P., and Draper Laboratory (2010, January 2–5). Designing and Validating Proximity Operations Rendezvous and Approach Trajectories for the CygnusMission. Proceedings of the AIAA/AAS GNC Conference, Toronto, ON, Canada. AIAA Paper.10.2514/6.2010-8446 ↗
8. Cresto Aleina, S., Viola, N., Stesina, F., Viscio, M.A., and Ferraris, S. (2015, January 12). Reusable space tug concept and mission. Proceedings of the International Astronautical Congress, Jerusalem, Israel.10.1016/j.actaastro.2016.07.003 ↗
9. Wingo, D.R. (2004, January 28–30). Orbital recovery’s responsive commercial space tug for life extension missions. Proceedings of the AIAA 2nd Responsive Space Conference, Los Angeles, CA, USA.10.2514/6.2004-6118 ↗
10. Dynamics of large space debris removal using tethered space tug10.1016/j.actaastro.2013.05.020 ↗
11. Jones, M., Gomez, E., Mantineo, A., and Mortensen, U.K. (2002). Introducing ECSS Software-Engineering Standards within ESA, European Aviation Safety Agency. EASA Bulletin.
12. History of space shuttle rendezvous and proximity operations10.2514/1.19653 ↗
13. Tatsch, A.R., and Fitz-Coy, N. (2005, January 17–20). Dynamic Artificial Potential Function Guidance for Autonomous on-Orbit Servicing. Proceedings of the 6th International ESA Conference on Guidance, Navigation and Control Systems, Loutraki, Greece.
14. Martinson, N. (2009, January 10–13). Obstacle avoidance guidance and control algorithm for spacecraft maneuvers. Proceedings of the AIAA Guidance, Navigation, and Control Conference, Chicago, IL, USA.10.2514/6.2009-5672 ↗
15. Autonomous rendezvous using artificial potential function guidance10.2514/3.21375 ↗
16. Zappulla, R., Park, H., Virgili-Llop, J., and Romano, M. (2016, January 14–18). Experiments on Autonomous Spacecraft Rendezvous and Docking Using an Adaptive Artificial Potential Field Approach. Proceedings of the 26th AAS/AIAA Space Flight Mechanics Meeting, Napa, CA, USA.
17. Zappulla, R., Virgili-Llop, J., and Romano, M. (2017, January 6–9). Near-optimal real-time spacecraft guidance and control using harmonic potential functions and a modified RRT. Proceedings of the 27th AAS/AIAA Spaceflight Mechanics Meeting, San Antonio, TX, USA.
18. Feng, L., Ni, Q., Bai, Y., Chen, Z., and Zhao, Y. (2016, January 25–29). Optimal sliding Mode Control for Spacecraft Rendezvous with Collision Avoidance. Proceedings of the IEEE Congress on Evolutionary Computation, Vancouver, BC, Canada.10.1109/CEC.2016.7744122 ↗
19. Sliding mode control for gradient tracking and robot navigation using artificial potential fields10.1109/70.370505 ↗
20. Second-order sliding-mode control of a mobile robot based on a harmonic potential field10.1049/iet-cta:20070424 ↗
21. Edwards, C., and Spurgeon, K.S. (1998). Sliding Mode Control: Theory and Applications, Taylor and Francis.10.1201/9781498701822 ↗
22. Fehse, W. (2003). Automated Rendezvous and Docking of Spacecraft, Cambridge University Press.10.1017/CBO9780511543388 ↗
23. New state transition matrix for relative motion on an arbitrary elliptical orbit10.2514/2.4875 ↗
24. Utkin, V.I. (1992). Sliding Modes in Optimization and Control Problems, Springer.10.1007/978-3-642-84379-2 ↗
25. Sliding Mode Control Strategies for Rendezvous and Docking Maneuvers10.2514/1.G001882 ↗
26. Chattering Avoidance by Second-order Sliding Mode Control10.1109/9.661074 ↗
27. Sliding Order and Sliding Accuracy in Sliding Mode Control10.1080/00207179308923053 ↗
28. Hughes, P.C. (2004). Spacecraft Attitude Dynamics, Dover Publications.