Crazyflieドローンを衛星代替として用いた宇宙機編隊飛行の検証
Testing Spacecraft Formation Flying with Crazyflie Drones as Satellite Surrogates
小型ドローンCrazyflieを衛星の代替プラットフォームとして使い、線形化CW方程式に基づく相対運動やドッキング軌道、ニューラルネット制御の軌道をシミュレーション評価した研究。
著者: Arturo de la Barcena, Collin Rhodes, John McCarroll, Marzia Cescon, Kerianne L. Hobbs
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
As the space domain becomes increasingly congested, autonomy is proposed as one approach to enable small numbers of human ground operators to manage large constellations of satellites and tackle more complex missions such as on-orbit or in-space servicing, assembly, and manufacturing. One of the biggest challenges in developing novel spacecraft autonomy is mechanisms to test and evaluate their performance. Testing spacecraft autonomy on-orbit can be high risk and prohibitively expensive. An alternative method is to test autonomy terrestrially using satellite surrogates such as attitude test beds on air bearings or drones for translational motion visualization. Against this background, this work develops an approach to evaluate autonomous spacecraft behavior using a surrogate platform, namely a micro-quadcopter drone developed by the Bitcraze team, the Crazyflie 2.1. The Crazyflie drones are increasingly becoming ubiquitous in flight testing labs because they are affordable, open source, readily available, and include expansion decks which allow for features such as positioning systems, distance and/or motion sensors, wireless charging, and AI capabilities. In this paper, models of Crazyflie drones are used to simulate the relative motion dynamics of spacecraft under linearized Clohessy-Wiltshire dynamics in elliptical natural motion trajectories, in pre-generated docking trajectories, and via trajectories output by neural network control systems.
