DCL Research Spotlight: Mark L. Mote, Andrew Bylard, Marco Pavone, Magnus Egerstedt, Eric Feron

Trajectory Optimization with Collision Tolerance - Spacecraft Case Study

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Trajectory Optimization with Collision Tolerance - Spacecraft Case Study

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Trajectory Optimization with Collision Tolerance - Spacecraft Case Study

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  • Trajectory Optimization with Collision Tolerance Trajectory Optimization with Collision Tolerance
    (YouTube Video)

Mark L. Mote, Andrew Bylard, Marco Pavone, Magnus Egerstedt, Eric Feron

 

Abstract: 

 

Consideration of collisional behavior in vehicle trajectories can enable richer set of solutions, allowing both better performance, and a safest course of action in scenarios where collision is inevitable. Here we develop an approach for collision tolerant optimal trajectory planning on a three degree of freedom free-flier spacecraft. First, we extend previous results for generating optimal trajectories in particle motion to a full hybrid model for the spacecraft. Next, a collision model is derived from experimental data, and incorporated along with the nominal dynamics as constraints in a mixed integer quadratic program (MIQP). Simulated scenarios demonstrate improved robustness of the MPC online, and experimental comparisons show the significant reductions in fuel consumption for trajectories that incorporate collisions. 

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Decision and Control Lab (DCL)

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DCL Research Spotlight
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  • Created By: mamstutz3
  • Workflow Status: Published
  • Created On: Oct 16, 2018 - 2:34pm
  • Last Updated: Oct 18, 2018 - 4:29pm