Safe Positively Invariant Sets for Spacecraft Obstacle Avoidance
نویسندگان
چکیده
This paper presents an obstacle avoidance method for spacecraft relative motion control. In this approach, a connectivity graph is constructed for a set of relative framepoints,which formavirtual net centeredaroundanominal orbital position. The connectivity between points in the virtual net is determined based on the use of safe positively invariant sets for guaranteed collision freemaneuvering. A graph search algorithm is then applied to find amaneuver that avoids specified obstacles and adheres to specified thrust limits. As compared to conventional open-loop trajectory optimization, this approach enables the handling of bounded disturbances, which can represent the effects of perturbing forces andmodel uncertainty, while rigorously guaranteeing that nonconvex and possibly time-varying obstacle avoidance constraints are satisfied. Details for handling a single stationary obstacle, multiple stationary obstacles, moving obstacles, and bounded disturbances are reported and illustrated with simulation case studies.
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