A Convex Formulation of the Soft-Capture Problem
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arXiv
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| Autores principales: | , , , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Acceso en línea: | |
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| _version_ | 1866929333370617856 |
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| author | Sow, Ibrahima Sory Gutow, Geordan Choset, Howie Manchester, Zachary |
| author_facet | Sow, Ibrahima Sory Gutow, Geordan Choset, Howie Manchester, Zachary |
| contents | We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing spacecraft to achieve soft capture (near-zero relative velocity at contact) between predefined locations on the servicer spacecraft and target body. We solve a convex problem by enforcing a convex relaxation of the field-of-view constraint, followed by a sequential convex program correcting the trajectory for collision avoidance. The optimization problems can be solved with a standard second-order cone programming solver, making the algorithm both fast and practical for implementation in flight software. We demonstrate the performance and robustness of our algorithm in simulation over a range of object tumble rates up to 10°/s. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2405_00867 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | A Convex Formulation of the Soft-Capture Problem Sow, Ibrahima Sory Gutow, Geordan Choset, Howie Manchester, Zachary Robotics Systems and Control Optimization and Control We present a fast trajectory optimization algorithm for the soft capture of uncooperative tumbling space objects. Our algorithm generates safe, dynamically feasible, and minimum-fuel trajectories for a six-degree-of-freedom servicing spacecraft to achieve soft capture (near-zero relative velocity at contact) between predefined locations on the servicer spacecraft and target body. We solve a convex problem by enforcing a convex relaxation of the field-of-view constraint, followed by a sequential convex program correcting the trajectory for collision avoidance. The optimization problems can be solved with a standard second-order cone programming solver, making the algorithm both fast and practical for implementation in flight software. We demonstrate the performance and robustness of our algorithm in simulation over a range of object tumble rates up to 10°/s. |
| title | A Convex Formulation of the Soft-Capture Problem |
| topic | Robotics Systems and Control Optimization and Control |
| url | https://arxiv.org/abs/2405.00867 |