This paper presents a consensus-based path planning algorithm for a team of communicating spacecraft. The central idea is the development of a new efficient method of incorporating collision avoidance into the consensus algorithm. This is done by applying the concept of quadratically constrained attitude control (Q-CAC), where attitude constraints are represented as a set of linear matrix inequalities (LMI), and solved by semidefinite programming. Lyapunov-based stability analysis is also presented, together with simulation results for a team of spacecraft engaging in arbitrary formation reconfigurations, to demonstrate the effectiveness of the approach.
Path planning for multiple spacecraft using consensus with LMI avoidance constraints
01.03.2012
2243613 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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