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Open Access research with a European policy impact...

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EPRC is a leading institute in Europe for comparative research on public policy, with a particular focus on regional development policies. Spanning 30 European countries, EPRC research programmes have a strong emphasis on applied research and knowledge exchange, including the provision of policy advice to EU institutions and national and sub-national government authorities throughout Europe.

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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.