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

<div>Control acceleration in the frame <svg height="12.2323pt" id="M239" style="vertical-align:-3.309319pt" version="1.1" viewbox="-0.0498162 -8.92298 16.9191 12.2323" width="16.9191pt" 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="M409 504C401 567 396 607 392 642C354 654 312 665 266 665C137 665 60 583 60 487C60 374 161 325 225 290C300 250 355 215 355 141C355 68 311 21 235 21C131 21 86 122 71 183L41 176C48 128 61 42 68 21C78 16 93 8 118 0C142 -7 175 -15 216 -15C349 -15 438 69 438 174C438 287 344 333 265 374C186 414 138 449 138 522C138 576 172 631 249 631C336 631 363 562 380 499L409 504Z"></path></g></svg> (Scenario 3).</div>

Mathematical Problems in Engineering

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Figure 19

Figure 19: Artificial Potential Function Safety and Obstacle Avoidance Guidance for Autonomous Rendezvous and Docking with Noncooperative Target 