基于A＊算法的空间机械臂避障路径规划

Path Planning for Space Manipulator to Avoid Obstacle Based on A~＊ Algorithm

针对空间机械臂在轨操作任务需求,提出一种基于A*算法的避障路径规划算法。根据机械臂和障碍物几何特征,对机械臂模型和障碍模型进行简化。通过研究机械臂本身所固有的几何特性,根据障碍物的位姿坐标,分析机械臂各杆件与障碍物发生碰撞的条件,进而求解空间机械臂的无碰撞自由工作空间。在此基础上,利用A*算法在空间机械臂的自由工作空间进行无碰撞路径搜索,实现了空间机械臂的避障路径规划。通过仿真试验验证了基于A*算法的空间机械臂避障路径规划算法的有效性与可行性。

A novel path planning method to avoid obstacle based on A＊ algorithm is presented for space manipulator to accomplish the in-orbit mission.According to the geometric characteristics of manipulator and obstacle,the manipulator model and obstacle model are simplified.On the basis of the inherent geometric characteristic of manipulator,and according to the position and orientation coordinates of obstacle,the collision conditions of all links of manipulator are analyzed.And then,the collision-free workspace of space manipulator is obtained.On this basis,the collision-free path search in the free workspace of space manipulator is carried out by using A＊ algorithm,thereby,the obstacle avoidance path planning is achieved.The effectiveness and feasibility of the proposed path planning algorithm based on A＊ algorithm for space manipulator to avoid obstacle are verified by simulation and experiment.