The ability to autonomously generate and execute large angle attitude maneuvers, while operating under a number of celestial and dynamical constraints, is a key factor in the development of several future space platforms. In this paper we propose a randomized attitude slew planning algorithm for autonomous spacecraft, which is able to address a variety of pointing constraints, including bright object avoidance and ground link maintenance, as well as constraints on the control inputs and spacecraft states, and integral constraints such as those deriving from thermal control requirements. Moreover, through the scheduling of feedback control policies, the algorithm provides a consistent decoupling between low-level control and attitude motion planning, and is robust with respect to uncertainties in the spacecraft dynamics and environmental disturbances. Simulation examples are presented and discussed. © 2001 by the American Institute of Aeronautics and Astronautics. Inc. All rights reserved.
|Original language||English (US)|
|Title of host publication||AIAA Guidance, Navigation, and Control Conference and Exhibit|
|State||Published - Dec 1 2001|