Free flyer manoeuvring round a space station

Badawy, A. and McInnes, C.R. (2007) Free flyer manoeuvring round a space station. In: 12th International Conference on Aerospace Sciences & Aviation Technology, 2007-05-29 - 2007-05-31.

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Abstract

One of the most critical processes of a free-flying autonomous robot is investigated in this paper using artificial potential fields. Close navigation round The International Space Station could not be established with the potential functions without representing the station using a superquadric model. The final configuration is defined as the global minimum of a function which includes the goal parameters and the station structure. An error quaternion representation is used to define both attractive and repulsive potentials to enable the formulation of a position-orientation dependent controller. Coupling between translational and rotational motions leads to better controller performance. Its elegancy and simplicity minimize the computational power needed for the free-flyer on-board computer.

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• Item metadata

  Item type:	Conference or Workshop Item(Paper)
  ID code:	3417
  Dates:	Date Event 30 May 2007 Published
  Subjects:	Technology > Mechanical engineering and machinery Science > Physics Technology > Motor vehicles. Aeronautics. Astronautics
  Department:	Faculty of Engineering > Mechanical and Aerospace Engineering
  Depositing user:	Users 207 not found.
  Date deposited:	03 Sep 2007
  Last modified:	11 Nov 2024 16:12
  URI:	https://strathprints.strath.ac.uk/id/eprint/3417