This paper proposes the use of pseudospectral methods to solve the nonlinear trajectory planning problem for free-floating robots. Specifically, three different optimization tools are analyzed. Using each tool, simulations are performed, and it is shown that each solver is capable of finding a deployment trajectory that minimizes the final attitude of a free-floating robot. Each solution is then validated using Pontryagin’s minimum principle and Bellman’s principle of optimality, as well as by propagating the control torques using a numerical integrator and the dynamics model. Experimental validation is performed at Carleton University’s Spacecraft Robotics and Control Laboratory to further investigate the solutions obtained from each tool. Ultimately, it was determined that all solutions resulted in a reduced attitude disturbance at the end of the robotic deployment maneuver.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Experimental Validation of Pseudospectral-Based Optimal Trajectory Planning for Free-Floating Robots


    Beteiligte:
    Crain, Alexander (Autor:in) / Ulrich, Steve (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    2019-03-08


    Format / Umfang :

    17 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    NONLINEAR OPTIMAL TRAJECTORY PLANNING FOR FREE-FLOATING SPACE MANIPULATORS USING A GAUSS PSEUDOSPECTRAL METHOD

    Crain, Alexander / Ulrich, Steve | British Library Conference Proceedings | 2016



    Pseudospectral Optimal Control Algorithm for Real-Time Trajectory Planning (AAS 09-164)

    Hurni, M.A. / Sekhavat, P. / Ross, I.M. et al. | British Library Conference Proceedings | 2009


    Improved Gauss Pseudospectral Method for Mars Entry Trajectory Planning

    Li, Shuang / Liu, Xu / Jiang, Xiu-qiang et al. | Springer Verlag | 2024