为捕获旋转太空碎片，设计了动态避障轨迹规划方法。
Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking
- 基于非线性优化构建自适应动态避让球
- 实现近距离接近并安全进入机械臂工作区
- 适用于在轨服务卫星的碎片捕获任务
利用在轨服务卫星上的机械臂执行太空碎片清除任务时，安全接近一个翻滚的靶标是一项关键挑战。本文提出一种基于非线性优化的近距离交会轨迹规划方法，旨在将一个自由漂浮、旋转的碎片物体在二维平面内引入机械臂的工作空间，作为捕获的前置步骤。所提方法引入一个随接近条件动态调整的动态避让球，从而实现更近且更安全的接近。此外，还设计了一种控制策略，使用离散开关式推进器复现优化后的轨迹，考虑实际执行中的约束条件。
原文摘要 · Abstract (English)
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization for a close-range rendezvous to bring a free-floating, rotating debris object in a two-dimensional plane into the manipulator's workspace, as a preliminary step for its capture. The proposed method introduces a dynamic keep-out sphere that adapts depending on the approach conditions, allowing for closer and safer access to the target. Furthermore, a control strategy is developed to reproduce the optimized trajectory using discrete ON/OFF thrusters, considering practical implementation constraints.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。