Path Planning for Orbital Motions

Abstract

Path planning algorithms determine a path from start to goal locations, generally minimizing a cost such as time, distance, fuel, or other parameters. Often, this cost is estimated by the straight-line distance between two points or configurations. However, for a free flying space robot, a straight line is not necessarily the least costly path, because discrete thrusters generate arc-shaped trajectories defined by the current orbit of the robot. So, a way to consider non-straight paths must be found. This research uses the geometries in Voronoi diagrams to determine and define the path to take for a free flying space robot called AERCam. The current work deals with a two-dimensional world, though the extension to three dimensions is planned. Object-free corridors through which AERCam may safely maneuver are also defined. This work will lead to methods for determining the optimal path.