Trajectory planning of a free-flying robot by using the optimal control

Abstract

In this paper, we consider the planar motion of a free-flying robot equipped with the jet thrust mechanism. Based on the non-linear equations of motion of the free-flying robot, we calculate the optimal control such that the fuel consumption is minimized and that the given terminal condition is satisfied at the end of motion. We use Sakawa–Shindo algorithm for calculating the optimal control, which was derived on the basis of Pontryagin's maximum principle. The computational results are satisfactory and show that the algorithm works well. Copyright © 1999 John Wiley & Sons, Ltd.