Path planning algorithms determine a path from start to goal locations, generally minimizing a cost such as time, distance, fuel, or other parameters. Often, this cost is estimated by the straight-line distance between two points or configurations. However, for a free flying space robot, a straight line is not necessarily the least costly path, because discrete thrusters generate arc-shaped trajectories defined by the current orbit of the robot. So, a way to consider non-straight paths must be found. This research uses the geometries in Voronoi diagrams to determine and define the path to take for a free flying space robot called AERCam. The current work deals with a two-dimensional world, though the extension to three dimensions is planned. Object-free corridors through which AERCam may safely maneuver are also defined. This work will lead to methods for determining the optimal path.


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    Titel :

    Path Planning for Orbital Motions


    Beteiligte:

    Kongress:

    Third ASCE Specialty Conference on Robotics for Challenging Environments ; 1998 ; Albuquerque, New Mexico, United States


    Erschienen in:

    Erscheinungsdatum :

    1998-04-21




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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