Goal-Oriented Guidance Under Uncertainties for Small Bodies Proximity Operations

Proximity operations to minor bodies demands high levels of autonomy to achieve cost-effective, safe and reliable solutions. Autonomous trajectory planning plays a pivotal role, requiring intelligent targeting of mission objectives. A goal-oriented guidance strategy robust to navigation and control uncertainties and based on the combination of abstract reachability analysis and sequential convex programming is presented in this paper. The methodology is embedded in a model predictive control framework allowing for fast replanning and compensation of unmodelled dynamics. Eros proximity operations are considered to validate the approach successfully targeting mission objectives.