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  • Generalized Potential Function Approach for on-Orbit Assembly

    Paper number

    IAC-07-C1.2.08

    Author

    Mr. Ahmed Badawy, University of Strathclyde in Glasgow, United Kingdom

    Coauthor

    Prof. Colin R. McInnes, University of Strathclyde, United Kingdom

    Year

    2007

    Abstract
    ABSTRACT
    
    A generalized form of a path planning potential function is presented with application to on-orbit assembly. Adding the maneuvering object positions, linear velocities, orientations, and angular velocities in addition to superquadric based obstacle potentials in one function gives a complete control over all assembly parameters. Both continuous and impulsive control approaches are possible with appropriate control laws. The maneuvering objects are now able to decide which action translation and/ or rotation is appropriate. Constant maneuver velocity is attained almost everywhere by virtue of defining a conical attractive potential at some distance from the goal position. A parabolic attractive well is used inside this domain to ensure stability at the goal point and to allow smooth contact.
    
     
    INTRODUCTION
    Artificial potential fields were described in 1980s as a superposition of two distinct functions: attractive and repulsive. The attractive potential aims to bring a maneuvering object to a predefined goal point1. On the other hand, they are protected from collisions with other objects in the workspace (stationary or maneuvering objects) by repulsive potentials. Many methods are used to define the repulsive potential like FIRAS1, Superquadric deformable functions2,3, Gaussian distributions4,5, navigation functions6, and Laplace functions7, etc.
    In the generalized potential function, all objects in the workspace are considered as maneuvering objects although some may be stationary. Consequently each object moves to its goal point, rotates to its goal orientation due to the attractive potential and translates and rotates to avoid collision with other objects. The goal configuration of a maneuvering object is defined, in general, with its position, velocity, orientation, and angular velocity. Hence, two attractive fields are defined, one for translational motion while the other for the rotational motion. For the purposes of assembly, at contact the goal velocities and angular velocities are set to zero. 
    
    Abstract document

    IAC-07-C1.2.08.pdf

    Manuscript document

    IAC-07-C1.2.08.pdf (🔒 authorized access only).

    To get the manuscript, please contact IAF Secretariat.