On-Orbit Assembly Using Superquadric Potential Fields

The autonomous on-orbit assembly of a large space structure is presented using a method based on superquadric potential fields. The final configuration of the elements which form the structure is represented as the of some attractive potential field. Each element of the structure is then considered as presenting an obstacle the others using a superquadric potential field attached to the body axes of the element. A controller is developed ensures that the global potential field decreases monotonically during the assembly process. An error representation is used to define both the attractive and superquadric obstacle potentials allowing the final of the elements to be defined through both relative position and orientation. Through the use of potentials, a wide range of geometric objects can be represented using a common formalism, whereas avoidance can make use of both translational and rotation maneuvers to reduce total maneuver cost for the process.