Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking

Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization for a close-range rendezvous to bring a free-floating, rotating debris object in a two-dimensional plane into the manipulator’s workspace, as a preliminary step for its capture. The proposed method introduces a dynamic keep-out sphere that adapts depending on the approach conditions, allowing for closer and safer access to the target. Furthermore, a control strategy is developed to reproduce the optimized trajectory using discrete ON/OFF thrusters, considering practical implementation constraints.

Recommended citation: Kenta Iizuka, Akiyoshi Uchida, Kentaro Uno, Kazuya Yoshida. (2025). "Optimal Trajectory Planning for Orbital Robot Rendezvous and Docking." 2025 International Conference on Space Robotics (iSpaRo). 1(3).
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