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Appl. Sci. 2017, 7(10), 1042;

Obstacle Avoidance with Potential Field Applied to a Rendezvous Maneuver

Department of Mechanical and Aerospace Engineering, Politecnico di Torino, Corso Duca degli Abruzzi 24, 10129 Torino, Italy
National Council of Research, Institute of Electronics, Computer and Telecommunication Engineering (CNR–IEIIT), Corso Duca degli Abruzzi 24, 10129 Torino, Italy
Author to whom correspondence should be addressed.
Received: 31 July 2017 / Revised: 26 September 2017 / Accepted: 26 September 2017 / Published: 12 October 2017
(This article belongs to the Section Mechanical Engineering)
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This paper outlines a method based on the theory of artificial potential fields combined with sliding mode techniques for spacecraft maneuvers in the presence of obstacles. Guidance and control algorithms are validated with a six degree-of-freed (dof) omorbital simulator. The idea of this paper is to provide computationally efficient algorithms for real time applications, in which the combination of Artificial potential field (APF) and sliding mode control shows the ability of plan trajectories, even in the presence of external disturbances and model uncertainties. A reduced frequency of the proposed controllers and a pulse width modulation (PWM) of the thrusters are considered to verify the performance of the system. The computational performance of APF as a guidance algorithm is discussed and the algorithms are verified by simulations of a complete rendezvous maneuver. The proposed algorithm appears suitable for the autonomous, real-time control of complex maneuvers with a minimum on-board computational effort. View Full-Text
Keywords: spaceraft rendezvous; artificial potential fields; GNC algorithms spaceraft rendezvous; artificial potential fields; GNC algorithms

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Bloise, N.; Capello, E.; Dentis, M.; Punta, E. Obstacle Avoidance with Potential Field Applied to a Rendezvous Maneuver. Appl. Sci. 2017, 7, 1042.

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