Self-reconfiguration Strategies for Space-distributed Spacecraft

• URL: http://arxiv.org/abs/2411.17137v1
• Date: Tue, 26 Nov 2024 06:05:44 GMT
• Title: Self-reconfiguration Strategies for Space-distributed Spacecraft
• Authors: Tianle Liu, Zhixiang Wang, Yongwei Zhang, Ziwei Wang, Zihao Liu, Yizhai Zhang, Panfeng Huang,
• Abstract summary: This paper proposes a distributed on-orbit spacecraft assembly algorithm, where future spacecraft can assemble modules with different functions on orbit. Reasonable and efficient on-orbit self-reconfiguration algorithms play a crucial role in realizing the benefits of distributed spacecraft.
• Score: 17.70060501010008
• License:
• 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.

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