Landing a Spacecraft Under Lunar Gravity
This example involves a rigid planar body with two small side
thrusters, and a larger lower thruster. The goal is to navigate and
softly "land" the craft by firing thrusters, in spite of gravity.
The initial state places the craft at rest on the pad in the upper
right. The goal state places the craft at rest on the pad in the
lower left. RRTs were grown from the initial and goal states,
respectively, until they met each other. A 2D projection of the RRTs
is shown below, along with a computed trajectory. The RRT from the
initial state is shown in blue, and the RRT from the goal is shown in
A following movie shows the computed trajectory. The thruster firings
are not shown.
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