TY - JOUR
T1 - Online feedback motion planning for spacecraft obstacle avoidance using positively invariant sets
AU - Gao, Dengwei
AU - Luo, Jianjun
AU - Ma, Weihua
AU - Englot, Brendan
N1 - Publisher Copyright:
© 2020 COSPAR
PY - 2020/5/15
Y1 - 2020/5/15
N2 - This paper investigates a novel reliable feedback motion planning algorithm for steering a spacecraft to the desired position while satisfying dynamics and environmental constraints, such as actuator constraints, unexpected state constraints, bounded disturbances, etc. The proposed algorithm, termed safeRRT∗, applies positively invariant (PI) set transitions to an online sampling approach based on the asymptotically optimal rapidly-exploring random tree (RRT∗). A time-varying safe corridor is generated which consists of a sequence of PI sets under the instantaneous constraints. A spacecraft is guaranteed to remain within the corridor when the feedback controllers corresponding to the PI set transitions are executed. Simulations of the spacecraft avoiding obstacles validate the feasibility and effectiveness of the proposed safeRRT∗ algorithm.
AB - This paper investigates a novel reliable feedback motion planning algorithm for steering a spacecraft to the desired position while satisfying dynamics and environmental constraints, such as actuator constraints, unexpected state constraints, bounded disturbances, etc. The proposed algorithm, termed safeRRT∗, applies positively invariant (PI) set transitions to an online sampling approach based on the asymptotically optimal rapidly-exploring random tree (RRT∗). A time-varying safe corridor is generated which consists of a sequence of PI sets under the instantaneous constraints. A spacecraft is guaranteed to remain within the corridor when the feedback controllers corresponding to the PI set transitions are executed. Simulations of the spacecraft avoiding obstacles validate the feasibility and effectiveness of the proposed safeRRT∗ algorithm.
KW - Asymptotic optimality
KW - Motion planning
KW - Online replanning
KW - Positively invariant set
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U2 - 10.1016/j.asr.2020.01.034
DO - 10.1016/j.asr.2020.01.034
M3 - Article
AN - SCOPUS:85081939109
SN - 0273-1177
VL - 65
SP - 2424
EP - 2434
JO - Advances in Space Research
JF - Advances in Space Research
IS - 10
ER -