Robust randomized trajectory planning for satellite attitude tracking control
Name
74491196-MIT.pdf
Description
Full printable version
Size
21.02 MB
Format
Adobe PDF
Checksum (MD5)
af7c101b5575fd9a2dcded7b9834a98f
Author(s)
Barker, Drew R. (Drew Richard), 1981-
Advisor(s)
Leena Singh and Jonathan How.
Date Issued
2006
Publisher
Massachusetts Institute of Technology
Abstract
This thesis presents a novel guidance strategy that uses a randomized trajectory planning algorithm in a closed-loop fashion to provide robust motion planning and execution. By closing the guidance, navigation, and control loop around a randomized trajectory planning algorithm, a robotic vehicle can autonomously maneuver through a field of moving obstacles in a robust manner. The guidance strategy provides executable plans that are robust to known error sources when supplied with an estimate of the initial state, the goal, the predicted locations of obstacles, and bounds on error sources affecting the execution of a planned trajectory. The planning function presented in this thesis extends the Rapidly-exploring Random Tree algorithm to dynamic environments by exploring the configuration- x-time space using a node selection metric based on the maneuvering capability of the vehicle. The guidance strategy and the new randomized trajectory planning algorithm are applied to a challenging satellite attitude guidance problem in simulation.
Description
Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Aeronautics and Astronautics, 2006.
Includes bibliographical references (p. 121-125).
Subjects
Aeronautics and Astronautics.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Terms of Use
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
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