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There is now a CONTENT FREEZE for Mercury while we switch to a new platform. It began on Friday, March 10 at 6pm and will end on Wednesday, March 15 at noon. No new content can be created during this time, but all material in the system as of the beginning of the freeze will be migrated to the new platform, including users and groups. Functionally the new site is identical to the old one. webteam@gatech.edu
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Atlanta, GA | Posted: October 16, 2018
Summary Sentence:
Trajectory Optimization with Collision Tolerance - Spacecraft Case Study
Full Summary:
Trajectory Optimization with Collision Tolerance - Spacecraft Case Study
Trajectory Optimization with Collision ToleranceMark L. Mote, Andrew Bylard, Marco Pavone, Magnus Egerstedt, Eric Feron
Abstract:
Consideration of collisional behavior in vehicle trajectories can enable richer set of solutions, allowing both better performance, and a safest course of action in scenarios where collision is inevitable. Here we develop an approach for collision tolerant optimal trajectory planning on a three degree of freedom free-flier spacecraft. First, we extend previous results for generating optimal trajectories in particle motion to a full hybrid model for the spacecraft. Next, a collision model is derived from experimental data, and incorporated along with the nominal dynamics as constraints in a mixed integer quadratic program (MIQP). Simulated scenarios demonstrate improved robustness of the MPC online, and experimental comparisons show the significant reductions in fuel consumption for trajectories that incorporate collisions.
