Abstract
Space modular self-reconfigurable satellite (SMSRS) is a new type of satellite. The research on self-collision avoidance of SMSRS is important for its on-orbit safety but is not completely solved. This paper offers a new method for joint path planning for self-collision avoidance of SMSRS. Firstly, we establish the collision detection model for SMSRS based on forward kinematics and the spherical nonholonomic envelope to detect the collision occurring in SMSRS. Then, to achieve offline path planning in joint space, we proposed the self-collision avoidance strategy, which splices multiple C-spaces based on the pre-defined joint path into a binary map, and then transforms the binary map into a map with the dangerous potential field, and planning algorithms based on a map with the dangerous potential field is proposed to find the optimal collision-free path. The new method is applied to two cases and both find collision-free joint paths for SMSRS successfully, which demonstrates the feasibility of the method. In addition, this study bridges the gap in the study of self-collision avoidance of super-redundant self-reconfigurable satellites.
Highlights
With the large-scale exploitation of outer space and the increasing frequency of spacecraft and satellite launches, future space systems are expected to have low cost, rapid response, and multiple uses [1]
Using a few spheres and execute collision detection for SSMSRS at a low computational cost; (2) a method is proposed for splicing multiple C-spaces into a binary map based on a pre-defined path, which transforms the path planning in dynamic C-space into the planning of time sequence of joints on the pre-defined path; and (3) a new collision-free path search algorithm based on the map with dangerous potential fields is proposed to find the safest path without self-collision for Space modular self-reconfigurable satellite (SMSRS)
C-space based on pre-defined paths and theconpath algorithms based on digital maps with the dangerous potential field, which together consist figurations, we propose the spliced joint paths and the pathtoplanning algorithms based on digital maps withon thepre-defined dangerous potential field, which of the self-collision avoidance strategy of
Summary
With the large-scale exploitation of outer space and the increasing frequency of spacecraft and satellite launches, future space systems are expected to have low cost, rapid response, and multiple uses [1]. The structure of CubeSat is fixed, and it carries limited payfirst 100 launched CubeSats [16] shows that the mission failures of CubeSats are on a high loads so that they can only perform a single space task. The structure of CubeSat is fixed, and it carries limited payloads so Taking the design concept of CubeSat as the baseline, we proposed a new type of that they can only perform a single space task. The modular design of facilitates the structural folding carrying standard docking interfaces to the subsystem modules, or as unit and packaging before The launch and thedesign reconfiguration space [18]. Modular of SMSRSin facilitates the structural folding and (2) Scalability: andthe subsystem modules are functionally independent and packaging before Payload launch and reconfiguration in space [18].
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