This paper focuses on trajectory planning for spacecraft swarms in cluttered environments, like debris fields or the asteroid belt. Our objective is to reconfigure the spacecraft swarm to a desired formation in a distributed manner while minimizing fuel and avoiding collisions among themselves and with obstacles. In our prior work we proposed a novel distributed guidance algorithm for spacecraft swarms in static environments. In this paper, we present the Multi-Agent Moving-Obstacles Spherical Expansion and Sequential Convex Programming (MAMO SE-SCP) algorithm that extends our prior work to include spatiotemporal constraints such as time-varying, moving obstacles and desired time-varying terminal positions. In the MAMO SE-SCP algorithm, each agent uses a spherical-expansion-based sampling algorithm to cooperatively explore the time-varying environment, a distributed assignment algorithm to agree on the terminal position for each agent, and a sequential-convex-programming-based optimization step to compute the locally-optimal trajectories from the current location to the assigned time-varying terminal position while avoiding collision with other agents and moving obstacles. Simulation results demonstrate that the proposed distributed algorithm can be used by a spacecraft swarm to achieve a time-varying, desired formation around an object of interest in a dynamic environment with many moving and tumbling obstacles.


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    Titel :

    Distributed Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments


    Beteiligte:

    Kongress:

    AIAA Space and Astronautics Forum (SPACE Forum 2017) ; 2017 ; Orlando, FL, United States


    Erscheinungsdatum :

    12.09.2017


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Keine Angabe


    Sprache :

    Englisch


    Schlagwörter :


    Distributed Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments

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    Distributed Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments

    Bandyopadhyay, Saptarshi / Baldini, Francesca / Foust, Rebecca et al. | AIAA | 2017


    Distributed Spatiotemporal Motion Planning for Spacecraft Swarms in Cluttered Environments (AIAA 2017-5323)

    Bandyopadhyay, Saptarshi / Baldini, Francesca / Foust, Rebecca et al. | British Library Conference Proceedings | 2017


    Distributed fast motion planning for spacecraft swarms in cluttered environments

    Hadaegh, Fred Y. / de la Croix, Jean-Pierre / Raymani, Amir et al. | NTRS | 2017


    High-Speed Motion Planning for Aerial Swarms in Unknown and Cluttered Environments

    Toumieh, Charbel / Floreano, Dario | ArXiv | 2024

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