发表机构
e:fs TechHub GmbH; Ingolstadt University of Applied Sciences（e:fs TechHub 有限公司; 英戈尔施塔特应用科学大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出模块化控制屏障函数框架，通过安全滤波器约束实现翻滚目标捕获中自由飞行航天器的安全运行，并在Basilisk模拟器中验证了其效率与安全性。
AI 中文摘要
本文提出了一种模块化控制屏障函数（CBF）框架，用于在翻滚目标捕获期间实现安全自由飞行机器人航天器的运行。受欧洲航天局（ESA）最新安全近距离操作指南的启发，安全区域和要求被转化为专门的CBF。该13自由度系统被分解为平移、姿态和机器人子系统，每个子系统均配备一个安全滤波器，该滤波器通过轻量级二次规划程序最小程度地修改标称控制输入。这些滤波器强制执行锥形接近走廊、碰撞避免区域、姿态视线指向、角速度限制、机器人关节限制、连杆-基座碰撞避免以及执行器约束。子系统间的动态耦合通过将上游安全控制命令视为下游安全滤波器中的已知互联输入来处理，从而在支持系统级安全的同时保持模块化。该框架在轨服务场景中进行了验证，包括最终接近、角速率同步和翻滚目标抓取，使用了高保真天体动力学模拟器Basilisk。蒙特卡洛模拟结果展示了不同翻滚速率下的运行效率和操作安全性。
英文摘要
This paper presents a modular control barrier function (CBF) framework for safe free-flying robotic spacecraft operations during tumbling target capture. Motivated by latest ESA guidelines for safe close proximity operations, safety zones and requirements are translated into dedicated CBFs. The 13-DoF system is decomposed into translational, attitude, and robotic subsystems, each equipped with a safety filter that minimally modifies nominal control inputs in a lightweight quadratic program. The filters enforce a conical approach corridor, collision avoidance zone, attitude line-of-sight pointing, angular velocity limits, robotic joint limits, link-base collision avoidance, and actuator constraints. Dynamic coupling between subsystems is handled by treating upstream safe control commands as known interconnection inputs in the downstream safety filters, preserving modularity while supporting system-level safety. The framework is validated in an on-orbit servicing scenario, including final approach, angular rate synchronization, and tumbling target grasping, using the high-fidelity astrodynamics simulator Basilisk. Monte Carlo simulation results demonstrate runtime efficiency and operational safety for various tumbling rates.
CommentsAccepted to the international Conference on Space Robotics (iSpaRo) 2026
