Fast Three-Axis Constrained Attitude Pathfinding and Visualization Using Minimum Distortion Parameterizations

A new algorithm for designing attitude maneuver paths in the presence of multiple three-axis attitude constraints is presented. The algorithm projects the full three-axis attitude representation into a three-dimensional space using a new distortion-minimizing transformation. The projected representation is discretized on a three-dimensional Cartesian grid and the admissible regions emerge in the projected space from the discretized representation via interpolation of the constraint satisfaction across the grid points. The points are enumerated and graph search algorithms are employed to find minimum cost paths using the appropriately selected cost definitions. The paths are then smoothed and visualized alongside with the admissible regions in three dimensions. Ultimately, the paths can serve as targets for attitude tracking control algorithms.