Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking
Автор: Space Robotics Lab
Загружено: 2026-01-05
Просмотров: 100
Описание:
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization for a close-range rendezvous to bring a freefloating, rotating debris object in a two-dimensional plane into the manipulator’s workspace, as a preliminary step for its capture. The proposed method introduces a dynamic keepout sphere that adapts depending on the approach conditions, allowing for closer and safer access to the target. Furthermore, a control strategy is developed to reproduce the optimized trajectory using discrete ON/OFF thrusters, considering practical implementation constraints.
Regular paper accepted to the International Conference on Space Robotics (iSpaRo) 2025, Sendai, Japan.
Paper: https://arxiv.org/pdf/2512.21882
Video by Kenta Iizuka
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