Artificial Potential Function Safety and Obstacle Avoidance Guidance for Autonomous Rendezvous and Docking with Noncooperative Target
Joint Authors
Source
Mathematical Problems in Engineering
Issue
Vol. 2019, Issue 2019 (31 Dec. 2019), pp.1-17, 17 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2019-08-21
Country of Publication
Egypt
No. of Pages
17
Main Subjects
Abstract EN
The problem of artificial potential function (APF) safety and obstacle avoidance guidance for autonomous rendezvous and docking of chaser spacecraft with noncooperative spacecraft is studied.
The relative motion equation of the chaser and the target is established based on the line-of-sight coordinate system, the reference state is designed, and the corresponding state error is deduced.
The attitude motion equation of the noncooperative target spacecraft in space is established.
The safety and obstacle avoidance guidance problem of autonomous rendezvous and docking with noncooperative target is transformed into a path planning problem in a dynamic environment.
The attractive potential function is designed according to the state error.
In order to ensure that the chaser can safely approach the noncooperative target spacecraft, a safe corridor with ellipse cissoid is designed in the final approaching stage of autonomous rendezvous and docking.
The obstacle is assumed to be a sphere with a certain radius to avoid its influence in the approach, and the obstacle potential function is designed based on the Gaussian function method.
The total potential function of the system is designed according to the attractive potential function, the safe potential function, and the obstacle potential function.
The total potential function of the system is modified to ensure that the reference state is the minimum of the total potential function of the system.
The stability of the system is proven according to the Lyapunov stability principle, and the conditions for satisfying the monotonic decrease in the total potential function of the system are deduced.
Finally, the effectiveness of the proposed method is verified by three sets of numerical simulations.
American Psychological Association (APA)
Liu, Jianghui& Li, Haiyang. 2019. Artificial Potential Function Safety and Obstacle Avoidance Guidance for Autonomous Rendezvous and Docking with Noncooperative Target. Mathematical Problems in Engineering،Vol. 2019, no. 2019, pp.1-17.
https://search.emarefa.net/detail/BIM-1195133
Modern Language Association (MLA)
Liu, Jianghui& Li, Haiyang. Artificial Potential Function Safety and Obstacle Avoidance Guidance for Autonomous Rendezvous and Docking with Noncooperative Target. Mathematical Problems in Engineering No. 2019 (2019), pp.1-17.
https://search.emarefa.net/detail/BIM-1195133
American Medical Association (AMA)
Liu, Jianghui& Li, Haiyang. Artificial Potential Function Safety and Obstacle Avoidance Guidance for Autonomous Rendezvous and Docking with Noncooperative Target. Mathematical Problems in Engineering. 2019. Vol. 2019, no. 2019, pp.1-17.
https://search.emarefa.net/detail/BIM-1195133
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1195133