Real-time, propellant-optimized spacecraft motion planning under Clohessy-Wiltshire-Hill dynamics

• Published in: 2016 IEEE Aerospace Conference pp. 1 - 16
• Main Authors: Starek, Joseph A., Schmerling, Edward, Maher, Gabriel D., Barbee, Brent W., Pavone, Marco
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.03.2016
• Subjects: Heuristic algorithms; Orbits; Planning; Propulsion; Real-time systems; Space vehicles; Trajectory
• DOI: 10.1109/AERO.2016.7500704

This paper presents a sampling-based motion planning algorithm for real-time, propellant-optimized autonomous spacecraft trajectory generation in near-circular orbits. Specifically, this paper leverages recent algorithmic advances in the field of robot motion planning to the problem of impulsively-actuated, propellant-optimized rendezvous and proximity operations under the Clohessy-Wiltshire-Hill (CWH) dynamics model. The approach calls upon a modified version of the Fast Marching Tree (FMT*) algorithm to grow a set of feasible and actively-safe trajectories over a deterministic, low-dispersion set of sample points covering the free state space. Key features of the proposed algorithm include: (i) theoretical guarantees of trajectory safety and performance, (ii) real-time implementability, and (iii) generality, in the sense that a large class of constraints can be handled directly. As a result, the proposed algorithm offers the potential for widespread application, ranging from on-orbit satellite servicing to orbital debris removal and autonomous inspection missions.