Method and system for intelligent motion planning of space robot based on multiple constraints

A space robot and motion planning technology, applied in motor vehicles, control/regulation systems, instruments, etc., can solve problems such as physical hazards and affect work, and achieve the effect of avoiding collision, easy tracking, and improving accuracy and precision.

Active Publication Date: 2022-02-08
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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  • Method and system for intelligent motion planning of space robot based on multiple constraints
  • Method and system for intelligent motion planning of space robot based on multiple constraints
  • Method and system for intelligent motion planning of space robot 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, and specifically relates to a multi-constraint-based intelligent motion planning method, system and equipment for space robots, aiming to solve how to realize high-precision and high-accuracy path planning of space robots, so as to realize space goals The problem of rendezvous approach and capture autonomous flight control. The present invention includes: performing the optimal task assignment of the space robot based on the FM* genetic algorithm, obtaining the traversal sequence with the shortest path distance, and generating the first path of the space robot; adjusting the first path based on the Gaussian filter path adjustment method, so that The adjusted second path meets the mobility constraints based on environmental characteristics; if the unexecuted task distribution points change dynamically, the third path is obtained by re-planning the path points through the perceptron neural network that weighs the calculation cost and the path cost . The invention can provide a high-quality path that is easy to track, avoid collision, and re-plan efficiently for the motion of a 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 Patents(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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