  Deploying large, complex space structures is of great interest to the modern
scientific world as it can provide new capabilities in obtaining scientific,
communicative, and observational information. However, many theoretical mission
designs contain complexities that must be constrained by the requirements of
the launch vehicle, such as volume and mass. To mitigate such constraints, the
use of on-orbit additive manufacturing and robotic assembly allows for the
flexibility of building large complex structures including telescopes, space
stations, and communication satellites. The contribution of this work is to
develop motion planning and control algorithms using the linear quadratic
regulator and rapidly-exploring randomized trees (LQR-RRT*), path smoothing,
and tracking the trajectory using a closed-loop nonlinear receding horizon
control optimizer for a robotic Astrobee free-flyer. By obtaining controlled
trajectories that consider obstacle avoidance and dynamics of the vehicle and
manipulator, the free-flyer rapidly considers and plans the construction of
space structures. The approach is a natural generalization to repairing,
refueling, and re-provisioning space structure components while providing
optimal collision-free trajectories during operation.
