Simultaneous Control and Trajectory Estimation for Collision Avoidance of Autonomous Robotic Spacecraft Systems

被引：0
|
作者：
King-Smith, Matthew [1 ]
Tsiotras, Panagiotis [2 ]
Dellaert, Frank [3 ]
机构：
[1] Georgia Inst Technol, Sch Elect & Comp Engn, Atlanta, GA 30332 USA
[2] Georgia Inst Technol, Sch Aerosp Engn, Atlanta, GA 30332 USA
[3] Georgia Inst Technol, Sch Interact Comp, Atlanta, GA 30332 USA
来源：
2022 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2022) | 2022年
关键词：
D O I：
10.1109/ICRA.46639.2022.9811875
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We propose factor graph optimization for simultaneous planning, control, and trajectory estimation for collision-free navigation of autonomous systems in environments with moving objects. The proposed online probabilistic motion planning and trajectory estimation navigation technique generates optimal collision-free state and control trajectories for autonomous vehicles when the obstacle motion model is both unknown and known. We evaluate the utility of the algorithm to support future autonomous robotic space missions.
引用
收藏
页数：8
相关论文
共 50 条
  • [1] Sliding mode control for autonomous spacecraft rendezvous with collision avoidance
    Li, Qi
    Yuan, Jianping
    Wang, Huan
    [J]. ACTA ASTRONAUTICA, 2018, 151 : 743 - 751
  • [2] COLLISION-AVOIDANCE AUTONOMOUS CONTROL ALGORITHM FOR MULTI-SPACECRAFT PROXIMITY OPERATIONS
    Xu, Dan-Dan
    Zhang, Jing
    Luo, Ya-Zhong
    [J]. FOURTH IAA CONFERENCE ON DYNAMICS AND CONTROL OF SPACE SYSTEMS 2018, PTS I-III, 2018, 165 : 123 - 136
  • [3] Autonomous coordination of locomotion and collision avoidance in robotic mechanisms
    Maravall, D
    De Lope, J
    [J]. INTELLIGENT AUTOMATION AND SOFT COMPUTING, 2005, 11 (02): : 85 - 95
  • [4] A Reinforcement Learning approach for pedestrian collision avoidance and trajectory tracking in autonomous driving systems
    Russo, Luigi
    Terlizzi, Mario
    Tipaldi, Massimo
    Glielmo, Luigi
    [J]. 5TH CONFERENCE ON CONTROL AND FAULT-TOLERANT SYSTEMS (SYSTOL 2021), 2021, : 44 - 49
  • [5] Robotic Disassembly Sequence Planning Considering Robotic Collision Avoidance Trajectory in Remanufacturing
    Chen, Binbin
    Xu, Wenjun
    Liu, Jiayi
    Ji, Zhenrui
    Zhou, Zude
    [J]. 2020 IEEE 18TH INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN), VOL 1, 2020, : 494 - 501
  • [6] Deliberative Trajectory Planning for Shipborne Autonomous Collision Avoidance System
    Yang, Rongwu
    Xu, Jinsong
    Wang, Xin
    [J]. Shanghai Jiaotong Daxue Xuebao/Journal of Shanghai Jiaotong University, 2019, 53 (12): : 1411 - 1419
  • [7] Trajectory Planning of Autonomous Trucks for Collision Avoidance With Rollover Prevention
    Shi, Yue
    Huang, Yiwen
    Chen, Yan
    [J]. IEEE TRANSACTIONS ON INTELLIGENT TRANSPORTATION SYSTEMS, 2022, 23 (07) : 8930 - 8939
  • [8] Parallel trajectory planning for shipborne Autonomous collision avoidance system
    Yang, Rongwu
    Xu, Jinsong
    Wang, Xin
    Zhou, Quan
    [J]. APPLIED OCEAN RESEARCH, 2019, 91
  • [9] Cluster collision avoidance trajectory planning for modular spacecraft with optimal energy
    Zhao Teng
    Kang Guohua
    Tao Xinyong
    Xu Chuanxiao
    Wu Junfeng
    [J]. CHINESE SPACE SCIENCE AND TECHNOLOGY, 2023, 43 (01) : 44 - 52
  • [10] Optimal control of spacecraft for close proximity with collision avoidance
    Ni, Qing
    Feng, Licheng
    Huang, Yiyong
    [J]. 2016 3RD INTERNATIONAL CONFERENCE ON INFORMATION SCIENCE AND CONTROL ENGINEERING (ICISCE), 2016, : 1019 - 1023
12345