Convex optimization for proximity maneuvering of a spacecraft with a robotic manipulator
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Authors
Virgili-Llop, Josep
Zagaris, Costantinos
Zappulla, Richard II
Bradstreet, Andrew
Romano, Marcello
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2017-02
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February 2017
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Abstract
This paper presents a convex optimization-based guidance algorithm for maneuvering a spacecraft equipped with a robotic manipulator. A local solution to the original optimization problem is found by solving a collection of simpler convex programming problems. Given the deterministic convergence properties of convex programming, the proposed algorithm can be implemented onboard a spacecraft and used for real-time applications. To reduce the complexity of the original optimization problem, we first divide the maneuver into two simultaneously occurring sub-maneuvers: a system-wide translation and an internal re-configuration. These two sub-maneuvers are individually optimized using a sequential convex optimization approach to overcome the presence of non-convex inequality and nonlinear equality constraints. The paradigmatic example of capturing a tumbling object is used throughout the paper to illustrate the use of the proposed optimization approach. Additionally, a new explicitly convex formulation of a line-of-sight constraint is introduced.
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Conference Paper
Description
Published in the proceedings of the 27th AAS/AIAA Spaceflight Mechanics Meeting, San Antonio, TX, Feb. 6-9, 2017. (Advances in the Astronautical Sciences, Volume 160, pp 1059-1078).
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Mechanical and Aerospace Engineering (MAE)
Naval Postgraduate School (U.S.)
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.