Admissible Subspace TRajectory Optimizer (ASTRO) for Autonomous Robot Operations on the Space Station
Chamitoff, Greg, et al. (2014). "Admissible Subspace TRajectory Optimizer (ASTRO) for Autonomous Robot Operations on the Space Station." AIAA Guidance, Navigation, and Control Conference
The paper presents the development of a real-time path-planning optimization approach to controlling the motion of space-based robots. The algorithm is capable of designing a trajectory for a robot to navigate within complex surroundings that include numerous obstacles (generalized shapes) and constraints (geometric and performance limitations). The methodology employs a unique transformation that effectively changes a complex optimization problem into one with a positive definite cost function that enables high convergence rates for complex geometries, enabling its application to real-time operations. The strategy was implemented on the Synchronized Position Hold Engage Reorient Experiment Satellite (SPHERES) test-bed on the International Space Station (ISS), and iterative experimental testing was conducted onboard the ISS during Expedition 17 but the first author.
DOI: doi:10.2514/6.2014-1290 10.2514/6.2014-1290