Path Tracking with Orthogonal Parametrization for a Satellite with Partial State Information

Wojciech Domski, Alicja Mazur

Abstract

This article presents an orthogonal parametrization for a space robot. A simulation scenario was presented where a satellite with a fixed 2R planar manipulator arm is chasing a moving object in the space. A path tracking algorithm with partial state information such as distance to chased object and difference in orientation was used. Due to the undemanding nature of proposed algorithm the satelite can successfully chase an object with limited state information. The chase manoeuvre is divided into two stages. The first stage is to enter an orbit around the object while following curvilinear path. In turn, the second stage is to settle in a point on the orbit to create favourable conditions for any further operations.

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Paper Citation


in Harvard Style

Domski W. and Mazur A. (2018). Path Tracking with Orthogonal Parametrization for a Satellite with Partial State Information.In Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-321-6, pages 252-257. DOI: 10.5220/0006835102520257


in Bibtex Style

@conference{icinco18,
author={Wojciech Domski and Alicja Mazur},
title={Path Tracking with Orthogonal Parametrization for a Satellite with Partial State Information},
booktitle={Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2018},
pages={252-257},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006835102520257},
isbn={978-989-758-321-6},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Path Tracking with Orthogonal Parametrization for a Satellite with Partial State Information
SN - 978-989-758-321-6
AU - Domski W.
AU - Mazur A.
PY - 2018
SP - 252
EP - 257
DO - 10.5220/0006835102520257