MULTI-WAYPOINT-BASED PATH PLANNING FOR FREE-FLOATING SPACE ROBOTS

Suping Zhao, Bruno Siciliano, Zhanxia Zhu, Alejandro Gutierrez-Giles,and Jianjun Luo

Keywords

Multi-waypoint-based path planning problem, free-floating base, redundant space robots, waypoint-sequence, particle swarm optimization algorithm

Abstract

This paper studies the multi-waypoint-based path planning problem (MWPP) for redundant space robots. The end-effector of a space robot should visit a set of predefined waypoints with optimal distance, and the free-floating base should suffer minimum attitude disturbances from the manipulator during maneuver. The MWPP is decomposed into two sub-problems, the problem of optimal waypoint-sequence and the problem of optimal joint-movements. First, the Hybrid Self-adaptive Particle Swarm Optimization algorithm is proposed for optimal waypoint-sequence. Second, an Improved Particle Swarm Optimization algorithm, combined with direct kinematics of the space robot, is proposed for optimal joint movements. Finally, simulations are presented to validate the approach, including comparisons with other approaches.

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