On-orbit assembly using superquadric potential fields

Ahmed Badawy, Colin McInnes

Research output: Contribution to journalArticle

67 Citations (Scopus)
44 Downloads (Pure)

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, while collision avoidance can make use of both translational and rotation maneuvers to reduce total maneuver cost for the assembly process.
Original languageEnglish
Pages (from-to)30-43
Number of pages14
JournalJournal of Guidance, Control and Dynamics
Volume31
Issue number1
DOIs
Publication statusPublished - Jan 2008

Fingerprint

Potential Field
potential field
potential fields
Orbits
assembly
Orbit
orbits
maneuvers
Artificial Potential Field
Configuration
Geometric object
Collision Avoidance
large space structures
Collision avoidance
Quaternion
collision avoidance
quaternions
configurations
Controller
Decrease

Keywords

  • on-orbit assembly
  • space
  • superquadratic fields
  • control systems
  • mechanical engineering

Cite this

Badawy, Ahmed ; McInnes, Colin. / On-orbit assembly using superquadric potential fields. In: Journal of Guidance, Control and Dynamics. 2008 ; Vol. 31, No. 1. pp. 30-43.
@article{78235a42172b4b8b924d42aad3be7820,
title = "On-orbit assembly using superquadric potential fields",
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, while collision avoidance can make use of both translational and rotation maneuvers to reduce total maneuver cost for the assembly process.",
keywords = "on-orbit assembly, space, superquadratic fields, control systems, mechanical engineering",
author = "Ahmed Badawy and Colin McInnes",
year = "2008",
month = "1",
doi = "10.2514/1.28865",
language = "English",
volume = "31",
pages = "30--43",
journal = "Journal of Guidance, Control and Dynamics",
issn = "0731-5090",
number = "1",

}

On-orbit assembly using superquadric potential fields. / Badawy, Ahmed; McInnes, Colin.

In: Journal of Guidance, Control and Dynamics, Vol. 31, No. 1, 01.2008, p. 30-43.

Research output: Contribution to journalArticle

TY - JOUR

T1 - On-orbit assembly using superquadric potential fields

AU - Badawy, Ahmed

AU - McInnes, Colin

PY - 2008/1

Y1 - 2008/1

N2 - 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, while collision avoidance can make use of both translational and rotation maneuvers to reduce total maneuver cost for the assembly process.

AB - 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, while collision avoidance can make use of both translational and rotation maneuvers to reduce total maneuver cost for the assembly process.

KW - on-orbit assembly

KW - space

KW - superquadratic fields

KW - control systems

KW - mechanical engineering

U2 - 10.2514/1.28865

DO - 10.2514/1.28865

M3 - Article

VL - 31

SP - 30

EP - 43

JO - Journal of Guidance, Control and Dynamics

JF - Journal of Guidance, Control and Dynamics

SN - 0731-5090

IS - 1

ER -