Reconfiguration Maneuver Experiments using the SPHERES tesbed onboard the ISS
Aoude GS, et al. (2008). "Reconfiguration Maneuver Experiments using the SPHERES tesbed onboard the ISS." 3rd International Symposium on Formation Flying, Missions and Technologies
This paper presents recent results of reconfiguration maneuver experiments performed onboard the International Space Station (ISS) using the SPHERES testbed of the MIT Space Systems Laboratory (SSL). These experiments were designed using two different two-stage path planning algorithms previously developed by the authors to solve the general multi-spacecraft translation and rotation reconfiguration maneuver problem with coupled constraints. This problem is particularly difficult because of the non-linearity of the attitude dynamics, the non-convexity of some of the constraints, and the coupling between the positions and attitudes of all spacecraft. Flight data are shown in this paper and compared to the theoretical results. The success of these experiments validate the results of the two-stage algorithms. This paper also lists the lessons learnt from these experiments, which will be used to improve future SPHERES ISS reconfiguration maneuvers.