For the problem of free⁃floating space robot(FFSR)that the motion of manipulator will cause a large disturbance to the attitude of satellite,a path planning method based on hp⁃adaptive Gauss pseudospectral method(hp⁃A...For the problem of free⁃floating space robot(FFSR)that the motion of manipulator will cause a large disturbance to the attitude of satellite,a path planning method based on hp⁃adaptive Gauss pseudospectral method(hp⁃AGPM)is proposed in this paper.In this method,the minimum reaction torque acting on satellite is taken as the objective function,and the number of segments and the order of polynomial in each segment are determined adaptively to improve the accuracy and the efficiency of the solution.At the same time,the theoretical convergence of the designed method is innovatively proved to ensure that the solution of the discretized nonlinear programming(NLP)problem is the optimal solution to the original optimal problem.The simulation results of a planar two degree⁃of⁃freedom(2⁃DOF)space manipulator show that the proposed path planning method is more effective than the resolved acceleration control(RAC)method and the control variable parameterization(CVP)method,and is better than other pseudospectral methods both in computation speed and the number of collocation points.展开更多
针对传统的跳点搜索(jump point search, JPS)算法在移动机器人路径规划时,存在路径拐点以及中间跳点过多,路径规划时间较长等问题,提出了改进的跳点搜索算法I-JPS。I-JPS算法通过改进代价函数、引入叉积公式,来剔除冗余节点、增加机器...针对传统的跳点搜索(jump point search, JPS)算法在移动机器人路径规划时,存在路径拐点以及中间跳点过多,路径规划时间较长等问题,提出了改进的跳点搜索算法I-JPS。I-JPS算法通过改进代价函数、引入叉积公式,来剔除冗余节点、增加机器人与障碍物之间的安全距离。同时引入了动态窗口法(dynamic window approach, DWA)作局部路径规划,用于机器人临时避障和路径平滑化,并通过改进DWA提高多机器人之间的避障优先级。最后引入了多机器人协同路径规划,多机器人可以共同合作并完成复杂的任务,机器人之间还可以共享信息、协调行动,并通过分工合作来解决问题,提高任务的完成效率。最后,实验仿真结果表明改进后的算法相较于改进前的,在各方面都得到了极大的提升。展开更多
文摘For the problem of free⁃floating space robot(FFSR)that the motion of manipulator will cause a large disturbance to the attitude of satellite,a path planning method based on hp⁃adaptive Gauss pseudospectral method(hp⁃AGPM)is proposed in this paper.In this method,the minimum reaction torque acting on satellite is taken as the objective function,and the number of segments and the order of polynomial in each segment are determined adaptively to improve the accuracy and the efficiency of the solution.At the same time,the theoretical convergence of the designed method is innovatively proved to ensure that the solution of the discretized nonlinear programming(NLP)problem is the optimal solution to the original optimal problem.The simulation results of a planar two degree⁃of⁃freedom(2⁃DOF)space manipulator show that the proposed path planning method is more effective than the resolved acceleration control(RAC)method and the control variable parameterization(CVP)method,and is better than other pseudospectral methods both in computation speed and the number of collocation points.
