Mathspeak answer:
The pathways of the Interplanetary Transportation Network (ITN) are determined using numerical analysis of a dynamical system of equations of motion to find invariant manifolds which allow low-energy trajectories between Lagrange points of different celestial bodies.
What on Earth does all that mean?
Numerical analysis means you use lots of arithmetic to get an approximate solution to a problem you don’t know how to solve exactly.
For instance, say you want to know the area of a circular courtyard. A “numerical solution” is to lay down 1 meter square tiles until the courtyard is filled. This will give an approximate area, but misses a lot of small areas. You could then fill in these small areas with 10cm x 10 cm tiles and add that to the total area. Then repeat the process with 1 cm x 1 cm tiles. By repeating this algorithm, the courtyard area could be determined to any desired accuracy.
Of course, if you knew the formula for the area of a circle, you could have arrived at an exact solution much faster. If there is no exact solution (say for a winding forest path), your only choice as a numerical solution.
The differential equations which describe trajectories in a 2-body, 2-dimensional problem have exact solutions (conic sections). In 3+body problems there are few exact solutions, so numerical analysis is needed. Fortunately, computers can do the number crunching.
Dynamical Systems are mathematical functions (equations) which describe the time dependence of a point in space, like the swing of a pendulum or the position of a spacecraft.
Invariant means a quantity does not vary. For instance, when a satellite is in orbit, its total energy (kinetic + gravitational) is invariant.
A Manifold is a surface. A familiar example of a manifold is the intake manifold in an auto engine (a complex curved tube which connects the carburetor to multiple cylinders). A trombone is also a manifold. And the surface of a daffodil.
In the case of ITN, the manifold in question is a collection of contiguous state vectors with the same energy. “State vectors” means vectors of position and velocity that, together with their time, uniquely determine the state of an orbiting body. By “contiguous” I mean "side by each" in the same sense that Washington State is contiguous with Oregon. Or schooling fish are contiguous with each other.
A conventional elliptical orbit can be an example of an invariant manifold. Such an orbit can be considered the collection of all contiguous state vectors with the same total energy.
Note that for any point in the orbit, there are an infinite number of possible intersecting orbits. Even if we restrict ourselves to orbits which intersect not only at the origin, but also at a chosen orbital destination, we are still left with an infinite number of orbits. It is only if we restrict ourselves to origin, destination and contiguous state vectors do we get our “invariant” orbit.
In an equivalent 3-body, 3-dimensional example, the invariant manifold becomes 3-dimentional and assumes a more complicated, tubular “manifold” shape. However, unless we still restrict ourselves to a given origin, destination and originating state vector, there are an infinite number of “invariant manifolds” which pass through every origin point in space.
The invariant manifolds of the ITN are not, of themselves, unique structures in our solar system. They are the result of the choice we made for origin, destination and initial state vector.
By convention, ITN manifolds are chosen such that Lagrange (Libration) points are the origin and destination of each manifold section. These Lagrange (Libration) points act as interchanges between “turnpike” sections of the manifolds. Lagrange (Libration) points are chosen because
- They are close to massive bodies like planets, which are popular spacecraft destinations
- Nearby are (somewhat) stable halo orbits, where we can station spacecraft with little cost of station-keeping delta-v.
- These Lagrange (Liberation) points have low-energy transfers to other nearby manifolds which lead to yet more Lagrange (Libration) points near distant celestial bodies.
What are Lagrange (Libration) points? “Libration” means to wobble around, like tipsy sailors at liberty. Give them a little push and they totter off in a new direction. Lagrange points are locations near celestial bodies where a small delta-v makes a large change in direction of the state vector. This makes transfer between adjacent manifolds very low delta-v, and therefor economical on propellant.
Unfortunately, the ITN has little practical use for interplanetary spaceflight since effects between planets are small and trajectory durations are much too long for crewed flights. However, manifolds near planet/moon systems (Earth, Jupiter) have been utilized. See
ET come home. Is the inter-manifold transfer of JWST between Sun-Earth L2 and Earth-Moon L1 within the capability of existing propulsion systems? and
Can JWST come in for a pit stop? Is the fuel supply on JWST adequate for a transfer to an Earth Moon libration point to allow repairs?