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The Infrared Imaging Spectrograph (IRIS) for TMT: motion planning with collision avoidance for the on-instrument wavefront sensors

机译:用于TMT的红外成像光谱仪(IRIS):针对仪器上波前传感器的避免碰撞的运动计划

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摘要

The InfraRed Imaging Spectrograph (IRIS) will be a first-light client instrument for the Narrow Field Infrared Adaptive Optics System (NFIRAOS) on the Thirty Meter Telescope. IRIS includes three configurable tip/tilt (TT) or tip/tilt/focus (TTF) On-Instrument Wavefront Sensors (OIWFS). These sensors are positioned over natural guide star (NGS) asterisms using movable polar-coordinate pick-ofi arms (POA) that patrol an approximately 2-arcminute circular field-of-view (FOV). The POAs are capable of colliding with one another, so an algorithm for coordinated motion that avoids contact is required. We have adopted an approach in which arm motion is evaluated using the gradient descent of a scalar potential field that includes an attractive component towards the goal configuration (locations of target stars), and repulsive components to avoid obstacles (proximity to adjacent arms). The resulting vector field is further modified by adding a component transverse to the repulsive gradient to avoid problematic local minima in the potential. We present path planning simulations using this computationally inexpensive technique, which exhibit smooth and efficient trajectories.
机译:红外成像光谱仪(IRIS)将是三十米望远镜上的窄场红外自适应光学系统(NFIRAOS)的第一手客户端设备。 IRIS包括三个可配置的尖端/倾斜(TT)或尖端/倾斜/聚焦(TTF)仪器上波前传感器(OIWFS)。这些传感器使用可移动的极坐标拾取摄像头臂(POA)定位在自然制导星(NGS)星空上方,该臂可巡视大约2弧度的圆形视场(FOV)。 POA能够相互碰撞,因此需要一种避免接触的协调运动算法。我们采用了一种方法,其中使用标量势场的梯度下降来评估手臂运动,该梯度下降包括对目标配置(目标恒星的位置)具有吸引力的组件以及避免障碍物(与相邻手臂相邻)的排斥组件。通过添加横向于排斥梯度的分量可以进一步修改所得的矢量场,从而避免潜在的局部极小值出现问题。我们提出了使用这种计算便宜的技术进行路径规划的仿真,该技术显示出平滑而有效的轨迹。

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