Autonomous docking algorithm development and experimentation using the SPHERES testbed

Simon Nolet; Edmund Kong; David W. Miller

doi:10.1117/12.547430

30 August 2004 Autonomous docking algorithm development and experimentation using the SPHERES testbed

Simon Nolet, Edmund Kong, David W. Miller

Proceedings Volume 5419, Spacecraft Platforms and Infrastructure; (2004) https://doi.org/10.1117/12.547430
Event: Defense and Security, 2004, Orlando, Florida, United States

Abstract

The MIT Space Systems Laboratory (SSL) has developed a testbed for the testing of formation flight and autonomous docking algorithms in both 1-g and microgravity environments. The SPHERES testbed consists of multiple micro-satellites, or Spheres, which can autonomously control their position and attitude. The testbed can be operated on an air table in a 1-g laboratory environment, in NASA’s KC-135 reduced gravity research aircraft and inside the International Space Station (ISS). SPHERES launch to the ISS is currently manifested for May 19 2004 on Progress 14P. Various types of docking maneuvers, ranging from docking with a cooperative target to docking with a tumbling target, have been developed. The ultimate objective of this research is to integrate the different algorithms into one program that can assess the health status of the target vehicle, plan an optimal docking maneuver while accounting for the existing constraints and finally, execute that maneuver even in the presence of simulated failures. In this paper, results obtained to date on the ground based air table using the initial version of the program will be presented, as well as results obtained from microgravity experiments onboard the KC-135.

Citation Download Citation

Simon Nolet, Edmund Kong, and David W. Miller "Autonomous docking algorithm development and experimentation using the SPHERES testbed", Proc. SPIE 5419, Spacecraft Platforms and Infrastructure, (30 August 2004); https://doi.org/10.1117/12.547430

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available