Collisions may be harnessed as a way to improve the overall safety and navigational effectiveness of some spacecraft. However, leveraging this capability in autonomous platforms requires the ability to plan trajectories comprising impulsive contact. This paper addresses this problem through the development of a collision-inclusive approach to optimal trajectory planning for a three-degree-of-freedom free-flying spacecraft. First, experimental data are used to formulate a physically realistic collision model for the spacecraft. It is shown that this model is linear over the expected operational range, enabling a piecewise affine representation of the full hybrid vehicle dynamics. Next, the dynamics model and vehicle constraints are incorporated into a mixed integer program. Experimental comparisons of trajectories with and without collision-avoidance requirements demonstrate the capability of the collision-inclusive strategy to achieve significant performance improvements in realistic scenarios. A simulated case study illustrates the potential for this approach to find damage-mitigating paths in online implementations.
|Original language||English (US)|
|Number of pages||12|
|Journal||Journal of Guidance, Control, and Dynamics|
|State||Published - Mar 14 2020|
Bibliographical noteKAUST Repository Item: Exported on 2020-10-01
Acknowledgements: This research was supported in part by the National Science Foundation under CPS award 1931815, award 1544332, by an Early Stage Innovations grant from NASA’s Space Technology Research Grants Program, by the King Abdulaziz City for Science and Technology (KACST), and by King Abdullah University of Science and Technology (KAUST) baseline fund.
This publication acknowledges KAUST support, but has no KAUST affiliated authors.