On-Orbit Assembly Using Superquadric Potential Fields

Abstract

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