Combined Control and Navigation Approach to the Robotic Capture of Space Vehicles Article Swipe
Z. Pavanello
,
Francesco Branz
,
Alessandro Francesconi
,
Angelo Cenedese
,
Riccardo Antonello
,
F. Basana
,
Pietro Iob
,
D. Vertuani
,
Mario Massari
,
Christian Colombo
,
Marco Lovera
,
Davide Invernizzi
,
P. Ghignoni
,
L. Ticozzi
,
Giacomo Borelli
,
Roberto Opromolla
,
Michele Grassi
,
Giancarmine Fasano
,
A. Nocerino
,
Clovis Lombardi
,
Claudio Vela
,
I. Huertas Garcia
,
Pedro Simplício
·
YOU?
·
· 2021
· Open Access
·
YOU?
·
· 2021
· Open Access
·
The potentialities of In-Orbit Servicing (IOS) to extend the operational life of satellites and the need to implement Active Debris Removal (ADR) to effectively tackle the space debris problem are well known among the space community. Research on technical solutions to enable this class of missions is thriving, also pushed by the development of new generation sensors and control systems. Among private companies, space agencies and universities, the European Space Agency (ESA) has been developing technologies in this field for decades. Several solutions have been proposed over the years to safely capture orbital objects, the majority relying on robotic systems. A promising option is the employment of an autonomous spacecraft (chaser) equipped with a highly dexterous robotic arm able to perform the berthing with a resident space object. This operation poses complex technical challenges both during the approach phase and after contact. In this respect, the design of an effective, reliable, and robust Guidance, Navigation and Control (GNC) system, for which several algorithmic architectures and hardware configurations are possible, plays a key role to ensure safe mission execution. This work presents the outcomes of a research activity performed by a consortium of universities under contract with ESA with the goal to develop the navigation and control subsystems of a GNC system for controlling a chaser equipped with a redundant manipulator. Both the final approach until capture and the target stabilization phase after capture are considered in the study. The proposed solution aims at the implementation of a combined control strategy. Robust control methods are adopted to design control laws for the uncertain, nonlinear dynamics of the chaser and of the complete chaser-target stack after capture. Visual-based solutions, i.e., relying on active/passive electro- optical sensors, are selected for relative navigation. A complete sensor suite for relative and absolute navigation is part of the GNC system, including transducers for robot joint measurements. To properly validate the proposed solutions, a complete numerical simulator has been developed. This software tool allows to thoroughly assess the system performance, accounting for all the relevant external disturbances and error sources. A realistic synthetic image generator is also used for relative navigation performance assessment. This paper presents the design solutions and the results of preliminary numerical testing, considering three mission scenarios to prove the flexibility of the solution and its applicability to a wide range of operational cases.
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Metadata
- Type
- article
- Language
- en
- Landing Page
- http://hdl.handle.net/11577/3405891
- OA Status
- green
- Cited By
- 5
- Related Works
- 20
- OpenAlex ID
- https://openalex.org/W3212177853
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W3212177853Canonical identifier for this work in OpenAlex
- Title
-
Combined Control and Navigation Approach to the Robotic Capture of Space VehiclesWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2021Year of publication
- Publication date
-
2021-01-01Full publication date if available
- Authors
-
Z. Pavanello, Francesco Branz, Alessandro Francesconi, Angelo Cenedese, Riccardo Antonello, F. Basana, Pietro Iob, D. Vertuani, Mario Massari, Christian Colombo, Marco Lovera, Davide Invernizzi, P. Ghignoni, L. Ticozzi, Giacomo Borelli, Roberto Opromolla, Michele Grassi, Giancarmine Fasano, A. Nocerino, Clovis Lombardi, Claudio Vela, I. Huertas Garcia, Pedro SimplícioList of authors in order
- Landing page
-
https://hdl.handle.net/11577/3405891Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
greenOpen access status per OpenAlex
- OA URL
-
https://hdl.handle.net/11311/1189477Direct OA link when available
- Concepts
-
Space (punctuation), Computer science, Artificial intelligence, Control (management), Computer vision, Aeronautics, Engineering, Operating systemTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
5Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 1, 2024: 1, 2023: 1, 2022: 2Per-year citation counts (last 5 years)
- Related works (count)
-
20Other works algorithmically related by OpenAlex
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| publication_date | 2021-01-01 |
| publication_year | 2021 |
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