Abstract This paper presents a decentralized, distributed guidance and control scheme to combine a heterogeneous swarm of component satellites into a large satellite structure. The component satellites for the heterogeneous swarm are chosen to promote flexibility in final shape inspired by crystal structures and Islamic tile art. After the ideal fundamental building blocks are selected, basic nanosatellite-class satellite designs are made to assist in simulations involving attitude control. The Swarm Orbital Construction Algorithm (SOCA) is a guidance and control algorithm to allow for the limited type heterogeneity and docking ability required for in-orbit assembly. The algorithm consists of two parts, a distributed auction which uses barrier functions to ensure the proper agent selection for each target, and a trajectory generation portion which leverages model predictive control and sequential convex programming to achieve optimal collision-free trajectories to the desired target point even with nonlinear system dynamics. The optimization constraints use a boundary layer to determine whether the collision avoidance or the docking constraints should be applied. The algorithm was tested in a simulated perturbed 6-DOF spacecraft dynamic environment for planar and out-of-plane final structures and on two robotic platforms, including a swarm of frictionless spacecraft simulation robots.
Highlights Optimal assignment uses a distributed auction algorithm for heterogeneous swarms. Optimal guidance and control use a sequential convex program for nonlinear dynamics. Collision avoidance is handled carefully so docking is still enabled. Algorithm is validated using perturbed 6DOF spacecraft dynamics. Self-assembly is shown on wheeled robots and spacecraft simulator robots.
Autonomous in-orbit satellite assembly from a modular heterogeneous swarm
Acta Astronautica ; 169 ; 191-205
2020-01-02
15 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
AUTONOMOUS IN-ORBIT SATELLITE ASSEMBLY FROM A MODULAR HETEROGENEOUS SWARM USING SEQUENTIAL
British Library Conference Proceedings | 2016
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