Efficient Trajectory Optimization for Constrained Spacecraft Attitude Maneuvers
Thomas L. Dearing, John Hauser, Xudong Chen, Marco M. Nicotra, Christopher Petersen
Abstract
This paper introduces an optimal trajectory planner for spacecraft rest-to-rest attitude transfers subject to input saturation, angular velocity, and nonconvex exclusion cone constraints. The proposed solution adapts the Projection-Operator-Based Newton’s Method for Trajectory Optimization (PRONTO) to address the nonlinearity of the unit quaternion manifold. The system constraints are then handled using a modified interior point method designed to remain applicable when an intermediate solution estimate is infeasible. Through an extensive numerical study, the proposed solution is compared with a state-of-the-art commercial solver, its computational efficiency is demonstrated, and its unique ability to provide feasible intermediate solutions is highlighted. These results strongly indicate PRONTO as a suitable real-time optimal maneuver planner for spacecraft attitude control.