多智能体卫星维修中，用屏障函数防碰撞，保障姿态不确定下的安全作业。
Safe Multi-agent Satellite Servicing with Control Barrier Functions
- 基于姿态不确定的多智能体，用屏障函数实现相对安全避障。
- 通过多面体包络检测与避让，避免与翻滚目标发生碰撞。
- 适合复杂空间环境下需协同作业的卫星维修任务。
针对多个小型服务智能体在姿态不确定条件下对翻滚空间目标进行卫星维修的应用，分析了控制屏障函数的使用。服务智能体由母船部署，通过融合相对距离和惯性测量传感器获取各智能体相对于目标的相对位置与姿态。利用控制屏障函数，确保在同时重新定位多个智能体时避免彼此碰撞。采用基于翻滚空间物体多面体包络的微分碰撞检测与避让框架，安全引导智能体远离该目标。
原文摘要 · Abstract (English)
The use of control barrier functions under uncertain pose information of multiple small servicing agents is analyzed for a satellite servicing application. The application consists of modular servicing agents deployed towards a tumbling space object from a mothership. Relative position and orientation of each agent is obtained via fusion of relative range and inertial measurement sensors. The control barrier functions are utilized to avoid collisions with other agents for the application of simultaneously relocating servicing agents on a tumbling body. A differential collision detection and avoidance framework using the polytopic hull of the tumbling space object is utilized to safely guide the agents away from the tumbling object.
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