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An Efficient Sub-optimal Motion Planning Method for Attitude Manoeuvres

Conference paper
Part of the Astrophysics and Space Science Proceedings book series (ASSSP, volume 44)

Abstract

A motion planning technique for efficiently generating smooth spacecraft attitude slew manoeuvres is presented. The attitude trajectory (using quaternions) is shaped by a polynomial, determined by matching prescribed boundary conditions and the manoeuvre time. This method allows constraints such as limits on velocity, acceleration, jerk, and torque to be evaluated via inverse dynamics. Pointing constraints are also considered. A spin-to-spin case is presented whereby an axis-azimuth parameterisation is used. The problem of time minimization (within the set of trajectories defined by the given polynomials) is addressed, and a method for analytically estimating the minimum time of a manoeuvre is proposed. The method requires low computational capacity, and a comparison with optimal control solutions shows its relative performance.

Keywords

Motion Planning Obstacle Avoidance Body Axis Inverse Dynamic Solar Sail 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  1. 1.Mechanical and Aerospace EngineeringUniversity of StrathclydeGlasgowUK
  2. 2.Aerospace Sciences and TechnologyPolitecnico di MilanoMilanoItaly

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