空间机械臂在线实时避障路径规划研究

On-line Real-time Obstacle Avoidance Path Planning of Space Manipulator

针对目前空间机械臂避障路径规划算法计算量大难以达到在线实时规划的缺点,对空间机械臂的在线实时避障路径规划问题进行了研究和探讨。采用规则体的包络对障碍物进行建模,并借助C空间法的思想,把障碍物和机械臂映射到两个相互垂直的平面内,将机械臂工作空间的三维问题转化为二维问题,并结合二岔树逆向寻优的方法进行路径搜索,从而大大减少了计算量,达到了在线实时规划的要求。最后在空间机器人仿真系统上对其进行了仿真研究,验证了该方法的可行性。

To reduce the large amount of calculation during the space manipulator on-line real-time obstacle avoidance, a method path planning, is presented by means of the theory of configuration-space. Using the method of regular enveloping modelling of obstacles, and projecting obstacle and manipulator to two planes, the three-dimensional problem is transformed to two-dimensional one and then the path is searched by binary tree algorithm. It greatly reduces the calculation and meets the requirements of on-line real-time path planning. Simulations on the VR System of Space Robot, show that this algorithm is available.