Navigating an Underactuated Spaceship Through an Asteroid Field
The task is to determine how to fire thrusters to navigate a satellite
from an initial state to a goal state (which brings to satellite to
rest in the shuttle cargo bay). The image below shows the RRTs (this
is a projection from the 12D state space), and the computed
trajectory. The satellite is capable of both translation and
rotation. This example was solved by Peng Cheng. The geometric
model of the ship and obstacles were made by Andrew Olsen.
There are three bidirectional thrusters on the ship, none of which
is through the center of mass.
MPEG Animation: [14.8MB]
The animation is ten times the true speed (otherwise the animation
would last too long).
Return to RRT Gallery page
Return to main RRT page
Web page maintained by Steve LaValle