On-orbit assembly using superquadric potential fields

Badawy, A. and McInnes, C. R. (2008) On-orbit assembly using superquadric potential fields. Journal of Guidance, Control, and Dynamics, 31(1), pp. 30-43. (doi:10.2514/1.28865)

Badawy, A. and McInnes, C. R. (2008) On-orbit assembly using superquadric potential fields. Journal of Guidance, Control, and Dynamics, 31(1), pp. 30-43. (doi:10.2514/1.28865)

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Publisher's URL: http://dx.doi.org/10.2514/1.28865

Abstract

The autonomous on-orbit assembly of a large space structure is presented using a method based on superquadric artificial potential fields. The final configuration of the elements which form the structure is represented as the minimum of some attractive potential field. Each element of the structure is then considered as presenting an obstacle to the others using a superquadric potential field attached to the body axes of the element. A controller is developed which ensures that the global potential field decreases monotonically during the assembly process. An error quaternion representation is used to define both the attractive and superquadric obstacle potentials allowing the final configuration of the elements to be defined through both relative position and orientation. Through the use of superquadric potentials, a wide range of geometric objects can be represented using a common formalism, whereas collision avoidance can make use of both translational and rotation maneuvers to reduce total maneuver cost for the assembly process.

Item Type:Articles
Status:Published
Refereed:Yes
Glasgow Author(s) Enlighten ID:McInnes, Professor Colin
Authors: Badawy, A., and McInnes, C. R.
College/School:College of Science and Engineering > School of Engineering > Systems Power and Energy
Journal Name:Journal of Guidance, Control, and Dynamics
Publisher:American Institute of Aeronautics and Astronautics
ISSN:0731-5090
ISSN (Online):1533-3884

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