Abstract In this paper, we present a computationally efficient sampling-based spacecraft relative motion planning algorithm to reconfigure a spacecraft from a given initial state to a desired final state while avoiding collisions with obstacles and minimizing the total fuel required for the transfer. In our previous work, we presented an astrodynamics-informed kinodynamic motion planning (AIKMP) algorithm that can regularly find fuel-efficient and collision-free transfer solutions for relative spacecraft motion – without requiring an initial guess of the solution. In this work, we improve the computation efficiency of the AIKMP algorithm. We demonstrate that by using a linearized Lambert solution (LLS) instead of a full Lambert solution as the steering law for the developed motion planning algorithm, along with an additional tree-pruning module, the computation efficiency of the AIKMP algorithm can be improved by 96 % . The new pruning module added to the AIKMP algorithm also significantly reduces the storage requirement by the algorithm. Using different example relative transfer scenarios comprising two spacecraft and multiple obstacles/keep-out zones, we demonstrate the performance of the proposed efficient kinodynamic orbital motion planner and show that the algorithm efficiently computes near-optimal, fuel-efficient, and collision-free trajectories for spacecraft relative transfer problems.


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    Title :

    Efficient astrodynamics-informed kinodynamic motion planning for relative spacecraft motion


    Contributors:

    Published in:

    Advances in Space Research ; 73 , 11 ; 5426-5445


    Publication date :

    2024-02-13


    Size :

    20 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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