Real-time trajectory planning for free-floating space robot in close range using continuous thrust

This paper investigates the trajectory planning problem of free-floating space robot in proximity with continuous thrust. Sampling-based motion planning algorithm is viewed as promising method in such high-dimensional, complex scenario. A novel, fast trajectory planning algorithm AGB-RRT∗ is proposed using linearized orbital dynamics, which is capable of preventing collisions efficiently. Several constraints are considered, such as obstacle avoidance, plume impingement and control feasibility. Two extensions of AGB-RRT∗ algorithm are made: adaptive sampling strategy and LQR steering method. Finally, the performance of proposed algorithm are tested in 2D planar case and 3D case. Simulation results indicate the real-time feasibility of the proposed AGB-RRT∗ algorithm and the collision-free trajectories are displayed.