NDLI: Improving the Efficiency of Rapidly-exploring Random Trees Using a Potential Function Planner

Content Provider	IEEE Xplore Digital Library
Author	Garcia, I. How, J.P.
Copyright Year	2005
Description	Author affiliation: Aerospace Controls Laboratory, Massachusetts Institute of Technology. ianmga@mit.edu (Garcia, I.)
Abstract	This paper presents an improvement of the standard randomized path planning algorithm, and uses this new approach to design reconfiguration maneuvers for large formations of spacecraft. A spacecraft reconfiguration maneuver is a difficult 6 DOF trajectory design problem with nonlinear attitude dynamics and non-convex constraints. In addition, some of the constraints couple the positions and attitudes of the spacecraft, which makes the problems high-dimensional. A key step in the overall design is to find a feasible trajectory using a randomized path planner, which typically requires a large fraction of the total computation time. This paper presents an improvement to the path planner that greatly reduces the solution time and enables the solution of very large problems. The primary modification is to change the function that connects two points, which is a key component of the randomized planner. The standard approach is to use a simple and fast function, which is changed here to one that is slower, but much more effective in linking two points. The new connection function finds a link between the points by minimizing a distance function to the target point with a feasible optimizer that accounts for the constraints. The examples presented demonstrate the significant speed improvement of the new planner and that the algorithm can solve problems with up to 16 spacecraft with numerous constraints.
Starting Page	7965
Ending Page	7970
File Size	323738
Page Count	6
File Format	PDF
ISBN	0780395670
DOI	10.1109/CDC.2005.1583450
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-12-15
Publisher Place	Spain
Access Restriction	Subscribed
Rights Holder	IEEE/EUCA
Subject Keyword	Space vehicles Path planning Space technology Couplings Aerospace control Laboratories Paper technology Algorithm design and analysis Aerodynamics Joining processes
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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