Reproduce “Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking” on OpenResearch
Turn your favorite coding agents into research agents that review literature, develop hypotheses, and run experiments.
Universal app for Apple silicon and Intel. Requires macOS 11 or later.
About this paper
Kenta Iizuka, Akiyoshi Uchida, Kentaro Uno, Kazuya Yoshida
This research proposes an optimal trajectory planning and control framework for orbital robots to safely rendezvous with tumbling space debris, integrating a dynamic Keep-Out Sphere and a Pulse Width Modulation (PWM)-based thruster control strategy to achieve precise and synchronized close-range approaches in high-fidelity simulations.
Key insights
- Integrating a dynamic safety zone with trajectory optimization enhances both collision avoidance and maneuverability, which is crucial for precise robotic manipulation near tumbling targets.
- Optimal control solutions, typically continuous, can be practically realized on spacecraft with discrete ON/OFF thrusters through effective PD control and thruster allocation using PWM.
- The optimization framework can adapt its approach strategy, such as orbiting the target, to maintain terminal accuracy even when faced with high target spinning velocities.
Summary by alphaXiv.
Tip: change arxiv.org to autoarxiv.org in any arXiv abstract link to open the paper here.