Path Planning for Self-Collision Avoidance of Space Modular Self-Reconfigurable Satellites

Space modular self-reconfigurable satellite (SMSRS) is a new type of satellite. The research on self-collision avoidance SMSRS important for its on-orbit safety but not completely solved. This paper offers method joint path planning SMSRS. Firstly, we establish the collision detection model based forward kinematics and spherical nonholonomic envelope to detect occurring in Then, achieve offline space, proposed strategy, which splices multiple C-spaces pre-defined into binary map, then transforms map with dangerous potential field, algorithms field find optimal collision-free path. applied two cases both paths successfully, demonstrates feasibility method. In addition, this study bridges gap super-redundant satellites.