Trajectory shaping guidance for impact angle control of planetary hopping robots

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dc.contributor.authorMondal, Sabyasachi
dc.contributor.authorUpadhyay, Saurabh
dc.date.accessioned2024-11-25T12:11:38Z
dc.date.available2024-11-25T12:11:38Z
dc.date.freetoread2024-11-25
dc.date.issued2024-11-11
dc.date.pubOnline2024-11-11
dc.description.abstractThis paper presents a novel optimal trajectory-shaping control concept for a planetary hopping robot. The hopping robot suffers from uncontrolled in-flight and undesired after-landing motions, leading to a position drift at landing. The proposed concept thrives on the Generalized Vector Explicit (GENEX) guidance, which can generate and shape the optimal trajectory and satisfy the end-point constraints like the impact angle of the velocity vector. The proposed concept is used for a thruster-based hopping robot, which achieves a range of impact angles, reduces the position drift at landing due to the undesired in-flight and after-landing motions, and handles the error in initial hopping angles. The proposed approach’s conceptual realization is illustrated by lateral acceleration generated using thruster orientation control. Extensive simulations are carried out on horizontal and sloped surfaces with different initial and impact angle conditions to demonstrate the effect of impact angle on the position drift error and the viability of the proposed approach.
dc.description.journalNameFrontiers in Robotics and AI
dc.identifier.citationMondal S, Upadhyay S. (2024) Trajectory shaping guidance for impact angle control of planetary hopping robots. Frontiers in Robotics and AI, Volume 11, November 2024, Article number 1452997
dc.identifier.eissn2296-9144
dc.identifier.elementsID559145
dc.identifier.issn2296-9144
dc.identifier.paperNo1452997
dc.identifier.urihttps://doi.org/10.3389/frobt.2024.1452997
dc.identifier.urihttps://dspace.lib.cranfield.ac.uk/handle/1826/23215
dc.identifier.volumeNo11
dc.language.isoen
dc.publisherFrontiers
dc.publisher.urihttps://www.frontiersin.org/journals/robotics-and-ai/articles/10.3389/frobt.2024.1452997/full
dc.rightsAttribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/
dc.subject46 Information and Computing Sciences
dc.subject4007 Control Engineering, Mechatronics and Robotics
dc.subject40 Engineering
dc.subject4001 Aerospace Engineering
dc.subject40 Engineering
dc.subject46 Information and computing sciences
dc.subjecthopping robot
dc.subjecttrajectory shaping control
dc.subjectgeneralized vector explicit (GENEX) guidance
dc.subjectplanetary exploration
dc.subjectspace robotics
dc.titleTrajectory shaping guidance for impact angle control of planetary hopping robots
dc.typeArticle
dcterms.dateAccepted2024-10-07

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