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Autonomous Rendezvous with Non-cooperative Target Objects with Swarm Chasers and Observers

2023-01-22 05:22:11
Trupti Mahendrakar, Steven Holmberg, Andrew Ekblad, Emma Conti, Ryan T. White, Markus Wilde, Isaac Silver

Abstract

Space debris is on the rise due to the increasing demand for spacecraft for com-munication, navigation, and other applications. The Space Surveillance Network (SSN) tracks over 27,000 large pieces of debris and estimates the number of small, un-trackable fragments at over 1,00,000. To control the growth of debris, the for-mation of further debris must be reduced. Some solutions include deorbiting larger non-cooperative resident space objects (RSOs) or servicing satellites in or-bit. Both require rendezvous with RSOs, and the scale of the problem calls for autonomous missions. This paper introduces the Multipurpose Autonomous Ren-dezvous Vision-Integrated Navigation system (MARVIN) developed and tested at the ORION Facility at Florida Institution of Technology. MARVIN consists of two sub-systems: a machine vision-aided navigation system and an artificial po-tential field (APF) guidance algorithm which work together to command a swarm of chasers to safely rendezvous with the RSO. We present the MARVIN architec-ture and hardware-in-the-loop experiments demonstrating autonomous, collabo-rative swarm satellite operations successfully guiding three drones to rendezvous with a physical mockup of a non-cooperative satellite in motion.

Abstract (translated)

太空碎片的不断增加是由于对通信、导航和其他应用的航天器的需求不断增加。太空监视网络(SSN)跟踪了超过27,000块碎片,并估计其中小型不可追踪碎片的数量超过1,000,000。为了控制碎片的增长,必须减少进一步的碎片。一些解决方案包括将较大的非合作式本地天体(RSOs)退役或维护卫星在奥利恩设施中进行。 both require rendezvous with RSOs, and the scale of the problem calls for autonomous missions。 This paper介绍了在佛罗里达州理工学院的奥林匹亚设施中开发和测试的多功能自主定位视觉导航系统(MARVIN)。MARVIN由两个子系统组成:一个机器视觉辅助的定位系统和一个人工天体领域(APF)导航算法,它们一起命令一群追逐者安全地与RSO相碰。我们介绍了MARVIN的结构和行为,以及在循环中测试的硬件实验,演示了自主、合作群卫星操作成功引导三个无人机与运动的非合作卫星的物理模拟相碰。

URL

https://arxiv.org/abs/2301.09059

PDF

https://arxiv.org/pdf/2301.09059.pdf


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