elib
DLR-Header
DLR-Logo -> http://www.dlr.de
DLR Portal Home | Imprint | Privacy Policy | Contact | Deutsch
Fontsize: [-] Text [+]

A Nonlinear Optimization Method to Provide Real-Time Feasible Reference Trajectories to Approach a Tumbling Target Satellite

Stoneman, Samantha and Lampariello, Roberto (2016) A Nonlinear Optimization Method to Provide Real-Time Feasible Reference Trajectories to Approach a Tumbling Target Satellite. ISAIRAS 2016, 19-22 Jun 2016, Beijing, China.

[img] PDF
1MB

Official URL: http://robotics.estec.esa.int/i-SAIRAS/isairas2016/Session5b/S-5b-2-SamanthaStoneman.pdf

Abstract

We present a motion planning method based on nonlinear optimization to provide reference trajectories for a robotic spacecraft approaching a non-cooperative target satellite. We perform a first investigation of a planning method containing an offline and an online element which can be used to provide reference trajectories in a useful time. The method capabilities include identifying feasible solutions in the presence of a non-static obstacle space and the treatment of a Target satellite in any general tumbling state with angular velocities less than $5$ deg/s. We use a safety metric defined as the time-to-collision (ttc) with the Target satellite and show that the planning method can find the global minima for the defined problem within $50$ min. The approach maneuver is parametrized using a 6 degree of freedom (dof) task space which describes the final position of the grasping point on the Target satellite and the satellite's final angular velocity. First a global search composed of a coarse, randomized optimization plus a finer smoothing is performed, then the online algorithm interpolates between the pre-computed solutions and provides the reference trajectory to an on-board controller. An estimate for the offline computation times, up to 6 days for a sparse discretization, shows that in the presence of inertia uncertainties of the Target satellite, using parallelized optimization in an online global search can provide solutions on the order of minutes and is more attractive.

Item URL in elib:https://elib.dlr.de/113243/
Document Type:Conference or Workshop Item (Speech)
Title:A Nonlinear Optimization Method to Provide Real-Time Feasible Reference Trajectories to Approach a Tumbling Target Satellite
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Stoneman, SamanthaSamantha.Stoneman (at) dlr.deUNSPECIFIED
Lampariello, RobertoRoberto.Lampariello (at) dlr.deUNSPECIFIED
Date:2016
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Volume:13
Status:Published
Keywords:nonlinear optimization, on-orbit servicing, space robotics, active debris removal
Event Title:ISAIRAS 2016
Event Location:Beijing, China
Event Type:international Conference
Event Dates:19-22 Jun 2016
Organizer:China, HIT
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Stoneman, Samantha
Deposited On:17 Jul 2017 10:19
Last Modified:31 Jul 2019 20:10

Repository Staff Only: item control page

Browse
Search
Help & Contact
Information
electronic library is running on EPrints 3.3.12
Copyright © 2008-2017 German Aerospace Center (DLR). All rights reserved.