Vehicle motion planning with time-varying constraints

W. Todd Cerven, Francesco Bullo, Victoria L. Coverstone

Research output: Contribution to journalArticlepeer-review


The problem of planning the space vehicle motion through trajectories with obstacles was discussed. A motion premitive-based planner with rapidly exploring random trees (RRT) was used to analyze the time-varying obstacles in the trajectory. The method was applied to analyze the spacecraft landing on an idealized asteroid. Analysis shows that the method consumed a runtime of less than three minutes and was found to be very reliable.

Original languageEnglish (US)
Pages (from-to)506-509
Number of pages4
JournalJournal of Guidance, Control, and Dynamics
Issue number3
StatePublished - 2004

ASJC Scopus subject areas

  • Aerospace Engineering
  • Applied Mathematics
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Space and Planetary Science


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