This article presents a semianalytical method for motion planning with pointing and dynamic constraints in two stages where the path-planning problem with pointing constraints is addressed using parameter optimization of an analytically defined cost function on the virtual domain and dynamic constraints are addressed on the real time domain. The analytical formulation of the problem allows a simple method for reshaping the path between two prescribed rotations so that it can avoid forbidden regions. The approach described in this article has the advantage that it is simple to implement, deterministic, does not require discretization or integration, is easily adjusted to satisfy actuator constraints, and is expressed explicitly on the special orthogonal group SO(3).

Geometric attitude motion planning for spacecraft with pointing and actuator constraints

BIGGS, JAMES DOUGLAS;
2016-01-01

Abstract

This article presents a semianalytical method for motion planning with pointing and dynamic constraints in two stages where the path-planning problem with pointing constraints is addressed using parameter optimization of an analytically defined cost function on the virtual domain and dynamic constraints are addressed on the real time domain. The analytical formulation of the problem allows a simple method for reshaping the path between two prescribed rotations so that it can avoid forbidden regions. The approach described in this article has the advantage that it is simple to implement, deterministic, does not require discretization or integration, is easily adjusted to satisfy actuator constraints, and is expressed explicitly on the special orthogonal group SO(3).
2016
Aerospace Engineering; Space and Planetary Science; Electrical and Electronic Engineering; Applied Mathematics; Control and Systems Engineering
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1006486
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