用物理仿真设计软体捕网，实现对太空垃圾的高效自主捕获。
Simulation of Active Soft Nets for Capture of Space Debris
- 基于MuJoCo构建仿真系统，模拟网体动力学与轨道力学。
- 柔性网在100%测试中成功捕获恩维萨特卫星，接触点多且有效面积大。
- 无需预抛投，从静止状态启动，适合实际任务部署。
本文提出一个基于开源物理引擎MuJoCo的仿真器，用于设计和控制软体机器人捕网，以实现对空间碎片的自主清除。该仿真器包含网体动力学、网与碎片间的接触、网体自接触、轨道力学，以及作用于四角卫星上的推进器控制器。以欧洲航天局（ESA）退役的大型卫星恩维萨特（Envisat）为例，研究了不同机械模型对网体柔性的模拟效果，以及在不同相对位置下实现捕获的控制策略。不同于以往工作假设网已弹道投向目标，本研究从相对静止配置开始。结果表明，更柔性的网在捕获恩维萨特时表现更优；当搭配滑模控制器时，所有测试案例均成功捕获，且接触点数量更多、有效接触面积更大。
原文摘要 · Abstract (English)
In this work, we propose a simulator, based on the open-source physics engine MuJoCo, for the design and control of soft robotic nets for the autonomous removal of space debris. The proposed simulator includes net dynamics, contact between the net and the debris, self-contact of the net, orbital mechanics, and a controller that can actuate thrusters on the four satellites at the corners of the net. It showcases the case of capturing Envisat, a large ESA satellite that remains in orbit as space debris following the end of its mission. This work investigates different mechanical models, which can be used to simulate the net dynamics, simulating various degrees of compliance, and different control strategies to achieve the capture of the debris, depending on the relative position of the net and the target. Unlike previous works on this topic, we do not assume that the net has been previously ballistically thrown toward the target, and we start from a relatively static configuration. The results show that a more compliant net achieves higher performance when attempting the capture of Envisat. Moreover, when paired with a sliding mode controller, soft nets are able to achieve successful capture in 100% of the tested cases, whilst also showcasing a higher effective area at contact and a higher number of contact points between net and Envisat.
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