The obstacle vector field (OVF) method for collision-free trajectory planning of free-floating space manipulator

The obstacle vector field (OVF) method for collision-free trajectory planning of free-floating space manipulator

Manipulators mounted on small satellites will be used to perform on-orbit servicing, removal of space debris, and assembly of large orbital structures. During such operations, the manipulator must avoid collisions with the target object or the elements of the assembled structure. Planning of the man...

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Bibliographic Details
Main Author: Tomasz Rybus
Format: Article
Language:English
Published: Polish Academy of Sciences 2022-03-01
Series:Bulletin of the Polish Academy of Sciences: Technical Sciences
Subjects:
space robotics
obstacle avoidance
obstacle vector field
free-floating system
on-orbit servicing
Online Access:https://journals.pan.pl/Content/122715/PDF/BPASTS_2022_70_2_2470.pdf

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