Paper Info
Title
Trajectory Reproduction Algorithm in Application to an On-Orbit Docking Maneuver with Tumbling Target
Abstract
The paper presents a new algorithm for a trajectory planning problem. As a result, we obtain a control function which drives the system along the prescribed trajectory. This algorithm is embedded into an Endogenous Configuration Space Approach. The instantaneous map of the nonholonomic system allows us to construct a system of nonlinear functional equations which solution is a demanded control function. In order to solve the mentioned system of equations, the large scale root-finding algorithm is employed. The new trajectory reproduction algorithm is applied to solve the problem of an on-orbit servicing, namely a docking maneuver of a free-floating space manipulator with a tumbling target. The efficiency of the proposed approach is presented with a series of numerical experiments.
Year
DOI
Venue
2019
10.1109/RoMoCo.2019.8787367
2019 12th International Workshop on Robot Motion and Control (RoMoCo)
Keywords
Field
DocType
trajectory reproduction algorithm,tumbling target,trajectory planning problem,prescribed trajectory,nonholonomic system,nonlinear functional equations which solution,demanded control function,scale root-finding algorithm,endogenous configuration space approach,on-orbit docking maneuver,free-floating space manipulator
Orbit,Nonlinear system,System of linear equations,Control function,Computer science,Algorithm,Nonholonomic system,Functional equation,Trajectory,Configuration space
Conference
ISSN
ISBN
Citations 
2575-5536
978-1-7281-2976-1
0
PageRank 
References 
Authors
0.34
0
2
Name
Order
Citations
PageRank
Adam Ratajczak100.34
Joanna Ratajczak253.10