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Implementation of Virtual Structure Approach in Multiple Spacecraft Formation Flight Using Visual Sensors

Saberi Tavakkoli, Mohammad | 2011

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 41395 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Saghafi, Fariborz
  7. Abstract:
  8. In this research, it has been trying to implement Virtual Structure method for formation flight of multiple spacecraft. In this method, a virtual solid frame with virtual center of mass is considered and agents are arranged in a formation with respect to the virtual center. In this work, a formation keeping control system is implemented in which a feedback from formation to virtual structure and vice versa is considered. The method is implemented firstly in a nongradient field and then developed into a circular orbit in order to investigate the in-orbital effects. An algorithm for collision avoidance, based on relative distances and relative velocities, was also developed. The algorithm was tested via different scenarios. It is confirmed that free collision reconfiguration of the satellites' formation can be achieved even in rigours scenarios. The whole algorithm is then tested using the specifications of the so called SPHERES microsatellites. Here, the thrusters' limitations were considered to make the case studies more real. Despite of thrusters’ limitations, microsatellites could shape the formation without any collisions. Thereafter, a good testbed was provided to install visual sensors for measurement of relative distance and relative velocity. The influences of the number of the sensors, installation position and their field of view on the system performance are then investigated. It was concluded that six sensors with more than 94o field of view is the best choice. Finally, considering perturbation in more complex maneuver, the performance of system was investigated and confirmed
  9. Keywords:
  10. Satellite Formation Flying ; Virtual Structure Method ; Reconfiguration ; Visual Navigation ; Visual Sensors

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