Autonomous structure assembly using potential field functions
- Paper number
IAC-06-C1.P.3.04
- Author
Mr. Ahmed Badawy, University of Strathclyde in Glasgow, United Kingdom
- Coauthor
Prof. Colin R. McInnes, University of Strathclyde, United Kingdom
- Year
2006
- Abstract
The work presented in this paper introduces a new method for the generation of artificial potential field functions based on a superquadric representation of object shapes and a quaternion representation of object orientations. Such functions can be used to generate control laws for the autonomous assembly of large space structures. The use of superquadric functions facilitates the representation of the real physical shape of manoeuvring objects and obstacles. This provides a large free workspace for the motion of the manoeuvring objects, and so consequently reduces the required manoeuvring effort. The quaternion representation provides a singularity-free means of rotating the superquadratics during object manoeuvring. Potential field methods then provide a robust means of generating distributed controls for free-flying robots to enable automated assembly tasks. The problem of local minima formation when dealing with objects having straight edges is also addressed in this paper through changing the superquadric shape as a function of the relative position and orientation of the objects and obstacles. The proposed potential function enables manoeuvring objects to decide which motion, translation and/or rotation, leads to the quickest descent of the artificial potential, corresponding to the final assembled configuration of the structure. These coupled translation/rotation manoeuvres show significant benefits over de-coupled translation manoeuvres investigated in previously.
- Abstract document
- Manuscript document
IAC-06-C1.P.3.04.pdf (🔒 authorized access only).
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