Journal of Astronautics ›› 2011, Vol. 32 ›› Issue (4): 741-748.doi: 10.3873/j.issn.1000-1328.2011.04.006

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Research on High-Dimensional Motion Planning of Agile
and Autonomous on-Orbit Servicing Spacecraft
 Considering Time

WANG Ping, GUO Ji-feng, CHEN Cheng, CUI Nai-gang   

  1. Harbin Institute of Technology, Harbin 150001, China
  • Received:2009-12-30 Revised:2010-06-05 Online:2011-04-15 Published:2011-04-26

Abstract: An improved Rapidly\|exploring Random Trees-based High\|dimensional motion planning algorithm for an agile and autonomous on\|orbit servicing spacecraft in complicated space environment is studied. This planner satisfies the requirement for agile and autonomous spacecraft maneuvering under complex constraints. The results show that this high\|dimensional motion planner can be used to obtain the feasible motion trajectories and adapt to the two modes of on and off line planning.

Key words: AGile spacecraft, On-orbit servicing, Autonomous planning, Random tree, High-dimensional motion

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