Real-Time Autonomous Spacecraft Proximity Maneuvers and Docking Using an Adaptive Artificial Potential Field Approach

Zappulla, Richard; Park, Hyeongjun; Virgili-Llop, Josep; Romano, Marcello

doi:10.1109/tcst.2018.2866963

Cited by 55 publications

(25 citation statements)

References 23 publications

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“…In recent years, some papers have proposed APF for guidance algorithm for proximity operations. In [13] an adaptive APF is described and its computational efficiency is demonstrated by the experimental testbed. The problem of obstacle constraints is also addressed in [13] via an APF method and an optimal SMC.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control Techniques and Artificial Potential Field for Dynamic Collision Avoidance in Rendezvous Maneuvers

Mancini

Bloise

Capello

et al. 2020

IEEE Control Syst. Lett.

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The paper considers autonomous rendezvous maneuver and proximity operations of two spacecraft in presence of obstacles. A strategy that combines guidance and control algorithms is analyzed. The proposed closed-loop system is able to guarantee a safe path in a real environment, as well as robustness with respect to external disturbances and dynamic obstacles. The guidance strategy exploits a suitably designed Artificial Potential Field (APF), while the controller relies on Sliding Mode Control (SMC), for both position and attitude tracking of the spacecraft. As for the position control, two different first order SMC methods are considered, namely the component-wise and the simplex-based control techniques. The proposed integrated guidance and control strategy is validated by extensive simulations performed with a six degree-of-freedom (DOF) orbital simulator and appears suitable for real-time control with minimal on-board computational effort. Fuel consumption and control effort are evaluated, including different update frequencies of the closed-loop software.

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Section: Introductionmentioning

confidence: 99%

Sliding Mode Control Techniques and Artificial Potential Field for Dynamic Collision Avoidance in Rendezvous Maneuvers

Mancini

Bloise

Capello

et al. 2020

IEEE Control Syst. Lett.

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“…Convergence and high efficiency of APF has been theoretically proven, and the APF can be applied to path planning of autonomous proximity maneuvers. With the APF, the motion space of spacecraft can be modeled using a potential field, where a high potential field represents the dead zone and the lower the potential field, the freer the movement [4]. Thus, spacecraft can implement proximity and docking maneuvers along the negative gradient of the APF.…”

Section: Introductionmentioning

confidence: 99%

Safe Proximity Operation to Rotating Non-Cooperative Spacecraft with Complex Shape Using Gaussian Mixture Model-Based Fixed-Time Control

et al. 2020

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This paper studies the safety control problem for rotating spacecraft proximity maneuver in presence of complex shaped obstacles. First, considering the attitude change of the target spacecraft, a dynamic model of close-range relative motion in a body-fixed coordinate system is derived using a novel approach. Then, the Gaussian mixture model (GMM) is utilized to reconstruct the complex shape of the spacecraft, and a novel GMM-based artificial potential function (APF) is proposed to represent the collision avoidance requirement. By combining GMM-based APF with fixed-time stability methodology, a fixed-time control (FTC) is designed for close-range proximity operation to a rotating spacecraft having a complex shape. The presented GMM-FTC scheme can guarantee the convergence of relative state errors, and ensure that no collision occurs. Finally, simulation results are provided to illustrate the feasibility of the proposed control approach.

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“…In a similar way, real-time on-board execution of APF as guidance scheme is analyzed in [15]. More recently, interesting applications of APF as guidance algorithms are proposed in [16,17]. In [16], an adaptive artificial field for proximity operations is considered and the computational efficiency is proven in an experimental testbed.…”

Section: Introductionmentioning

confidence: 99%

“…More recently, interesting applications of APF as guidance algorithms are proposed in [16,17]. In [16], an adaptive artificial field for proximity operations is considered and the computational efficiency is proven in an experimental testbed. In [17], a near optimal hybrid guidance method using APF is proposed, combined with a sample based path planning method.…”

Section: Introductionmentioning

confidence: 99%

Obstacle Avoidance with Potential Field Applied to a Rendezvous Maneuver

et al. 2017

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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.

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Real-Time Autonomous Spacecraft Proximity Maneuvers and Docking Using an Adaptive Artificial Potential Field Approach

Cited by 55 publications

References 23 publications

Sliding Mode Control Techniques and Artificial Potential Field for Dynamic Collision Avoidance in Rendezvous Maneuvers

Sliding Mode Control Techniques and Artificial Potential Field for Dynamic Collision Avoidance in Rendezvous Maneuvers

Safe Proximity Operation to Rotating Non-Cooperative Spacecraft with Complex Shape Using Gaussian Mixture Model-Based Fixed-Time Control

Obstacle Avoidance with Potential Field Applied to a Rendezvous Maneuver

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