Year: 2024
Type: conference-paper
Abstract: This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit to form a spacecraft structure with specific functions. This form of spacecraft organization has the advantages of reconfigurability, fast mission response and easy maintenance. Reasonable and efficient on-orbit self-reconfiguration algorithms play a crucial role in realizing the benefits of distributed spacecraft. This paper adopts the framework of imitation learning combined with reinforcement learning for strategy learning of module handling order. A robot arm motion algorithm is then designed to execute the handling sequence. We achieve the self-reconfiguration handling task by creating a map on the surface of the module, completing the path point planning of the robotic arm using A*. The joint planning of the robotic arm is then accomplished through forward and reverse kinematics. Finally, the results are presented in Unity3D.
Authors: Tianle Liu, Zhixiang Wang, Yongwei Zhang, Ziwei Wang, Zihao Liu, Yizhai Zhang, Panfeng Huang
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
Funder: National Science Foundation
OpenAlex ID: W4405786409