Gradient based reachability analysis for goal-oriented guidance. Application to Eros proximity operations

TL;DR

This paper introduces a gradient-based reachability analysis method for autonomous goal-oriented guidance in proximity operations around small celestial bodies, enabling efficient replanning with limited computational resources.

Contribution

It presents a novel gradient-based reachability scheme for high reward path planning, specifically applied to asteroid proximity operations, with demonstrated advantages over existing exploration techniques.

Findings

Effective in proximity operations to asteroid Eros

Outperforms other exploration methods in case studies

Enables autonomous replanning with limited computation

Abstract

The recent growing interest in small solar system bodies such as asteroids and comets for scientific inspection, exploitation of resources, and planetary defense reasons is pushing the development of innovative engineering solutions to better investigate these celestial bodies. Current approaches for autonomous proximity operations often relies on tracking a reference trajectory previously designed and optimized on-ground. An innovative concept developed in recent years is proposing a paradigm shift towards autonomous goal-oriented strategies, providing the probe with high-level tasks and enabling replanning capability on-board. A gradient base reachability exploration scheme is introduced in this work to efficiently compute high reward paths with limited computational resource. The methodology is tested in a case study involving proximity operations to asteroid (433) Eros, comparing the proposed approach with other exploration techniques and showing promising results.