Autonomous Rendezvous and Docking Standards

The motion planning will be based on Sampling Based Model Predictive Control (SBMPC), which is a synergy between the Model Predictive Control (MPC) paradigm used by control researchers and engineers and the sampling based planning methodologies popularized by robotics and artificial intelligence researchers. SBMPC, like MPC, uses dynamic models in planning and treats the inputs to the system as the optimization parameters. However, unlike MPC, it optimizes uses sampling and A*-type optimization, which enables it to avoid local minimum and be used for real-time planning and control.

• Supplemental Notes:
  • Program Information: Commercial Space Transportation, Vehicle Safety Systems & Technologies. Additional contract numbers: 10-C-CST-UF, 10-C-CST-CU.

Language

• English

Project

• Status: Active
• Funding: $538961.00
• Contract Numbers:

  10-C-CST-FSU

  10-C-CST-SU

• Sponsor Organizations:

  Federal Aviation Administration

  800 Independence Avenue, SW
  Washington, DC  United States  20591
• Project Managers:

  Davidian, Ken

• Performing Organizations:

  University of Colorado, Denver

  Denver, CO  United States 

  University of Florida, Gainsville

  339 Weil Hall
  Gainsville, FL  United States  32611

  Stanford University

  320 Panama Street
  Stanford, CA  United States  94305

  Florida State University, Tallahassee

  217 Westcott Building
  Tallahassee, FL  United States  32306-
• Principal Investigators:

  Axelrad, Penina

  Fitz-Coy, Norman

  Rock, Stephen

  Collins, Steve

• Start Date: 20110101
• Expected Completion Date: 0
• Actual Completion Date: 20130531
• Source Data: RiP Project 30421

Subject/Index Terms

• TRT Terms: Aircraft operations; Autonomous vehicle guidance; Commercial space transportation; Docking; Optimization; Real time control
• Uncontrolled Terms: Model predictive control
• Subject Areas: Aviation; Operations and Traffic Management; Vehicles and Equipment;

Filing Info

• Accession Number: 01489595
• Record Type: Research project
• Source Agency: Department of Transportation
• Contract Numbers: 10-C-CST-FSU, 10-C-CST-SU
• Files: RIP
• Created Date: Aug 13 2013 1:01AM