Artificial Potential Function Safety and Obstacle Avoidance Guidance for Autonomous Rendezvous and Docking with Noncooperative Target

<div>Relative motion of the chaser and target in the frame <svg height="12.1045pt" id="M231" style="vertical-align:-3.18152pt" version="1.1" viewbox="-0.0498162 -8.92298 17.9604 12.1045" width="17.9604pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M896 662C863 643 826 624 783 624C682 624 539 680 429 680C328 680 253 659 202 616C163 583 138 537 138 484C138 399 208 349 283 349C396 349 466 417 492 554L472 555C436 442 385 379 286 379C234 379 179 410 179 491C179 578 257 634 382 634C475 634 622 574 731 574C796 574 862 610 907 647L896 662ZM657 568C577 499 520 440 477 341L463 310C368 277 286 233 247 186L260 171C320 211 380 237 437 256C349 77 281 31 184 31C124 31 83 59 78 94H80C87 83 101 81 109 81C137 81 153 104 153 131S130 180 103 180C68 180 43 154 43 111C43 34 123 0 192 0C335 0 469 75 546 282C599 291 640 293 661 294C653 267 650 244 650 224V206L709 226C706 235 706 245 706 252C706 271 706 289 714 312C758 333 786 368 786 387C786 403 775 409 763 409C744 409 712 391 685 352C644 351 604 345 564 337C595 433 622 506 671 554L657 568Z"></path></g><g transform="matrix(.0091,0,0,-0.0091,11.947,3.132)"><path d="M372 352C427 368 507 407 507 502C507 548 486 592 451 616C420 638 376 650 301 650H44V622C124 616 128 610 128 527V123C128 40 122 34 36 28V0H257C336 0 402 12 453 40C512 72 548 124 548 191C548 291 471 335 372 350V352ZM213 362V558C213 591 216 602 226 608C235 614 258 618 282 618C377 618 415 558 415 490C415 406 369 362 260 362H213ZM213 328H258C380 328 450 283 450 181C450 76 377 35 296 34C231 34 213 53 213 125V328Z"></path></g></svg> (Scenario 2).</div>

Mathematical Problems in Engineering

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Figure 12

Figure 12: Artificial Potential Function Safety and Obstacle Avoidance Guidance for Autonomous Rendezvous and Docking with Noncooperative Target 