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Obstacle avoidance path optimal successive operation planning method for spatial multiplexing

A space multi-tasking, path-optimized technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control and other directions, can solve problems such as complex obstacle avoidance methods

Active Publication Date: 2016-10-26
NORTHWESTERN POLYTECHNICAL UNIV
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Problems solved by technology

In addition, the obstacle avoidance methods mentioned in the literature are more complex

Method used

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  • Obstacle avoidance path optimal successive operation planning method for spatial multiplexing
  • Obstacle avoidance path optimal successive operation planning method for spatial multiplexing
  • Obstacle avoidance path optimal successive operation planning method for spatial multiplexing

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[0064] It is required that the end effector of the free-floating space robot system (see Table 1 for physical parameters) pass through four mission points (see Table 2 for position and attitude data), and there are irregular obstacles between adjacent mission points A and C, B and D See Table 3 for the optimal cube size surrounding irregular obstacles. The operating system needs to avoid obstacles and execute each task one by one. After completing the task, it returns to the initial task point. Excellent, and the attitude disturbance to the system body is zero.

[0065] Table 1 The positions and attitudes of the four task points

[0066]

[0067] Table 2 Optimal cube size surrounding irregular obstacles between mission points

[0068]

[0069] Table 3 Physical parameters of the free-floating space robot system

[0070]

[0071]

[0072] Figures 1 to 9 Schematic diagram of the path-optimized operation-by-operation planning for an operating system to perform task...

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Abstract

The invention discloses an obstacle avoidance path optimization successive operation planning method for spatial multiplexing. The obstacle avoidance path optimization successive operation planning method comprises the steps of finding a path optimization task sequence, finding a shortest obstacle avoidance path among adjacent task points, then finding joint movements with minimum disturbance to body attitudes, and realizing planning of path optimization successive operation for spatial multiplexing. The obstacle avoidance path optimization successive operation planning method utilizes a kinematical equation of a free-floating space robot system, adopts a hybrid particle swarm optimization algorithm, performs successive operation planning of path optimization for spatial multiplexing, is simple in algorithm, has few calculation workload, and is high in operation result precision. The obstacle avoidance path optimization successive operation planning method is suitable for a spatial operation system to execute multiple tasks continuously, saves time and fuel, is conductive to prolonging the service life of the spacecraft, and provides a new idea for the continuous execution problem of multiple tasks by the spatial operation system. The obstacle avoidance path optimization successive operation planning method is further elaborated by combining the drawings and embodiments.

Description

【Technical field】 [0001] The invention belongs to the technical field of spacecraft on-orbit service, and relates to an optimal sequential operation planning method for space multi-task obstacle avoidance paths. 【Background technique】 [0002] In recent years, with the development of space technology, empty robots have been widely used in on-orbit services, such as on-orbit maintenance, fuel supply, and debris cleaning. Offline operation planning is a prerequisite for executing tasks. The document "Liu X, Baoyin Hand Ma X. Optimal path planning of redundant free-floating revolute-jointed space manipulators with seven links" analyzed the task operation planning of space robots using particle swarm optimization algorithm problem, the constraint is to minimize the disturbance to the body pose during the planning process. The literature "Wang M, Luo Jand Walter U. Trajectory planning of free-floating space robot using ParticleSwarm Optimization" considers the task operation pla...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0238
Inventor 朱战霞赵素平张红文袁建平方群罗建军
Owner NORTHWESTERN POLYTECHNICAL UNIV
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