Space robot intelligent motion planning method and system based on multiple constraints

A space robot and motion planning technology, applied to motor vehicles, control/adjustment systems, instruments, etc., can solve problems such as physical hazards and work impacts, and achieve the effects of avoiding collisions, easy tracking, and reducing turning difficulty

Active Publication Date: 2021-12-03
INST OF AUTOMATION CHINESE ACAD OF SCI
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Problems solved by technology

But the space environment is extremely harsh, such as deadly space radiation, high temperature difference between day and night, and ultra-vacuum, which seriously affect their work, and will bring great harm to the body

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  • Space robot intelligent motion planning method and system based on multiple constraints
  • Space robot intelligent motion planning method and system based on multiple constraints
  • Space robot intelligent motion planning method and system based on multiple constraints

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[0073] The application will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain related inventions, not to limit the invention. It should also be noted that, for the convenience of description, only the parts related to the related invention are shown in the drawings.

[0074] It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

[0075] The invention provides a multi-constraint-based intelligent motion planning method for space robots, and proposes a space robot path planning method based on reinforcement learning under multi-constraint conditions, laying a theoretical foundation for autonomous flight control...

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Abstract

The invention belongs to the field of robot motion planning, particularly relates to a space robot intelligent motion planning method, system and equipment based on multiple constraints, and aims to solve a problem of how to realize high-precision and high-accuracy path planning of a space robot so as to realize space target intersection approaching and capture autonomous flight control. The method comprises steps of performing optimal task allocation of the space robot based on an FM* genetic algorithm, obtaining a traversal sequence with the shortest path distance, and generating a first path of the space robot; adjusting the first path based on a path adjustment method of a Gaussian filter, and enabling the adjusted second path to accord with a maneuverability constraint condition based on environmental characteristics; and if distribution points of the unexecuted tasks are dynamically changed, path point re-planning being carried out through a perceptron neural network which balances the calculation cost and the path cost, and a third path being obtained. According to the method, an efficient high-quality path which is easy to track, avoids collision and is re-planned can be provided for the motion of the space robot.

Description

technical field [0001] The invention belongs to the field of robot motion planning, and in particular relates to a multi-constraint-based intelligent motion planning method and system for a space robot. Background technique [0002] As we all know, the resources on the earth on which human beings depend are being exhausted day by day, and the environment is getting worse and worse, so finding and developing resources in space has become an important mission at present. There are many tasks in space exploration, such as establishing and maintaining space workstations, releasing satellites, repairing and recovering space junk, etc. Currently, these tasks can only be done by astronauts. But the space environment is extremely harsh, such as deadly space radiation, high temperature difference between day and night, and ultra-vacuum, which seriously affect their work, and will bring great harm to the body. Therefore, to complete space missions, it is necessary to establish a comp...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0221G05D2201/0217
Inventor 孔诗涵喻俊志杨闳竣王蜀泉吴正兴
Owner INST OF AUTOMATION CHINESE ACAD OF SCI
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