Efficient Trajectory Optimization for Constrained Spacecraft Attitude Maneuvers

Abstract

This paper introduces an optimal trajectory planner for spacecraft rest-to-rest attitude transfers subject to input saturation, angular velocity, and nonconvex exclusion cone constraints. The proposed solution adapts the Projection-Operator-Based Newton’s Method for Trajectory Optimization (PRONTO) to address the nonlinearity of the unit quaternion manifold. The system constraints are then handled using a modified interior point method designed to remain applicable when an intermediate solution estimate is infeasible. Through an extensive numerical study, the proposed solution is compared with a state-of-the-art commercial solver, its computational efficiency is demonstrated, and its unique ability to provide feasible intermediate solutions is highlighted. These results strongly indicate PRONTO as a suitable real-time optimal maneuver planner for spacecraft attitude control.