CBF-Based Safe Spacecraft Proximity Control With Collision and Occlusion Avoidance

This paper proposes a safe integrated planning and control strategy to address spacecraft safe proximity control problems under collision/occlusion avoidance and relative velocity constraints. First, capsule-shaped envelopes are constructed for the pursuer and target by accounting for the spacecraft geometry, thereby reformulating collision/avoidance constraints as analytical computations of minimum distance, specifically, segment-to-segment and point-to-segment distance evaluations. Subsequently, a safe, integrated planning and control framework is developed. Safety filtering is employed to generate a safety trajectory and velocity complying with motion constraints, followed by a safety trajectory tracking controller that maintains tracking errors within predefined safety tubes. By judiciously designing safety margins, the proposed strategy achieves safe approach control under constraints even with tracking errors. Numerical simulations validate the effectiveness of the proposed strategy.

• Publication year

  2025

• Venue

  International Conference on Industrial Informatics

• Publication date

  2025-07-12

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/INDIN64977.2025.11279391
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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