Autonomous Rendezvous, Docking, and Berthing in Space

The development of autonomous systems for rendezvous, docking, and berthing in space is essential for developing space mission capabilities, particularly in solving challenges like docking operations and space debris maintenance. This research explores the design, implementation, and evaluation of a completely autonomous docking system that utilizes advanced control algorithms and integrated sensor technologies in a high-fidelity simulation environment. The work uses Gazebo and the Robot Operating System (ROS) to replicate space conditions, with Velodyne LiDAR and depth cameras added to improve spatial awareness. Three control systems are used and evaluated for their effectiveness in moving spacecraft during docking operations: proportional–integral–derivative (PID), linear–quadratic regulator (LQR), and nonlinear control. Optimizing Hill–Clohessy–Wiltshire (HCW) equations increases trajectory planning accuracy. The system’s performance is examined under a variety of conditions, including debris avoidance, docking with orientation changes and docking on different planes, to prove its durability and accuracy. The findings develop autonomous space technology and provide better methods for future space missions.