舱外活动中航天员利用扶手移动的路径规划  

Path planning for astronaut translation by means of continuous handrails during extravehicular activity

作　　者：杨锋[1] 丁立[1] 杨春信[1] 袁修干[1] 

机构地区：[1]北京航空航天大学航空科学与工程学院,北京100083

出　　处：《北京航空航天大学学报》2005年第3期326-330,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家 8 6 3计划资助项目 (2 0 0 2AA7430 32 )

摘　　要：航天员在舱外活动中 ,常常需要从一个工作点向另一个工作点移动 .提出了一种用于搜寻两个工作点间最短通路的路径规划的方法 .该方法利用人工智能中的启发式搜索A 算法 ,在用栅格法对三维工作环境进行离散化的基础上 ,采用路径最短原则 ,完成了航天员在舱外活动中依靠扶手移动的路径规划 .对一个例子进行了研究 ,并对结果进行了分析 .规划的路径可为航天员舱外活动扶手的安装位置提供参考依据 ,以减少航天员舱外作业的工作时间。It is usually requested that astronauts move from one worksite to another during the extravehicular activity. An efficient and robust technique for generating global motion path for moving astronauts in the working environment utilizing heuristic search algorithm, A* algorithm, was proposed. Initially, the working space was discretized to some cells with specific volume and physical dimension. An obstacle-free cell path according to Manhattan metric was generated between any two cells. This path was planned based on the criterion that ensures the path was the shortest one amongst many feasible paths. A practical path was planned for a common extravehicular activity in which the astronaut moved from a module to another through an aisle by means of consecutive handrails. The planned path can provide some guidelines for designing the installation site of handrails in order to reduce the working time, lower astronaut energy consumption, and promote the operating efficiency of extravehicular activity.

关 键 词：航天员 路径 规划 舱外活动 A^＊算法 启发式搜索 

分 类 号：V527[航空宇航科学与技术—人机与环境工程]