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Deploying large, complex space structures is of great interest to the modernscientific world as it can provide new capabilities in obtaining scientific,communicative, and observational information. However, many theoretical missiondesigns contain complexities that must be constrained by the requirements ofthe launch vehicle, such as volume and mass. To mitigate such constraints, theuse of on-orbit additive manufacturing and robotic assembly allows for theflexibility of building large complex structures including telescopes, spacestations, and communication satellites. The contribution of this work is todevelop motion planning and control algorithms using the linear quadraticregulator and rapidly-exploring randomized trees (LQR-RRT*), path smoothing,and tracking the trajectory using a closed-loop nonlinear receding horizoncontrol optimizer for a robotic Astrobee free-flyer. By obtaining controlledtrajectories that consider obstacle avoidance and dynamics of the vehicle andmanipulator, the free-flyer rapidly considers and plans the construction ofspace structures. The approach is a natural generalization to repairing,refueling, and re-provisioning space structure components while providingoptimal collision-free trajectories during operation.

Motion Planning and Control for On-Orbit Assembly using LQR-RRT* and Nonlinear MPC