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.
Path Planning for Orbital Motions
Third ASCE Specialty Conference on Robotics for Challenging Environments ; 1998 ; Albuquerque, New Mexico, United States
Robotics 98 ; 57-63
1998-04-21
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
Path planning for orbital motions
Tema Archiv | 1998
|Wiley | 2015
|Computing Long-Term Orbital Motions
NTRS | 1987
|LISA Optics and Orbital Motions
NTRS | 2003
|BASE | 2019
|