Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Redundant Space Manipulator Autonomous Guidance for In-Orbit Servicing via Deep Reinforcement Learning

Matteo D’Ambrosio
* ORCID logo ,
Lorenzo Capra
ORCID logo ,
Andrea Brandonisio
ORCID logo ,
Stefano Silvestrini
ORCID logo ,
Michèle Roberta Lavagna
Version 1 : Received: 2 April 2024 / Approved: 3 April 2024 / Online: 4 April 2024 (17:28:29 CEST)

A peer-reviewed article of this Preprint also exists.

D’Ambrosio, M.; Capra, L.; Brandonisio, A.; Silvestrini, S.; Lavagna, M. Redundant Space Manipulator Autonomous Guidance for In-Orbit Servicing via Deep Reinforcement Learning. Aerospace 2024, 11, 341. D’Ambrosio, M.; Capra, L.; Brandonisio, A.; Silvestrini, S.; Lavagna, M. Redundant Space Manipulator Autonomous Guidance for In-Orbit Servicing via Deep Reinforcement Learning. Aerospace 2024, 11, 341.

Abstract

The application of space robotic manipulators and heightened autonomy for ios represents a paramount pursuit for leading space agencies, given the substantial threat posed by space debris to operational satellites and forthcoming space endeavors. This work presents a guidance algorithm based on drl to solve for the space manipulator path-planning during the motion synchronization phase with the mission target. The goal is the trajectory generation and control of a spacecraft equipped with a 7-dof robotic manipulator, such that its end effector remains stationary with respect to the target point of capture. The ppo drl algorithm is used to optimize the manipulator’s guidance law, and the autonomous agent generates the desired joints rates of the robotic arm, which are then integrated and passed to a model-based feedback linearization controller. The agent is first trained to optimize its guidance policy and then tested extensively to validate the results against a simulated environment representing the motion synchronization scenario of an ios mission.

Keywords

Deep Reinforcement Learning; 7-DoF space manipulator; motion synchronization; In-Orbit Servicing

Subject

Engineering, Aerospace Engineering

Copyright: This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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