基于动力学RRT^(*)的自由漂浮空间机器人轨迹规划  

Trajectory planning for free floating space robots based on kinodynamic RRT^(*)

作　　者：葛佳昊 刘莉[1] 董欣心 田维勇 陆天和 GE Jiahao;LIU Li;DONG Xinxin;TIAN Weiyong;LU Tianhe(School of Aerospace Engineering,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京理工大学宇航学院,北京100081

出　　处：《航空学报》2021年第1期169-178,共10页Acta Aeronautica et Astronautica Sinica

摘　　要：针对自由漂浮空间机器人(FFSR)轨迹规划问题,提出了一种基于动力学RRT^(*)算法的FFSR轨迹规划方法。首先,建立了FFSR的运动学与动力学模型,将系统模型伪线性重构为状态空间模型,并设计了考虑位姿调整时长和能量消耗的加权目标函数;然后,针对机械手初末位置间的障碍,简化避障方法,提出了机械臂避障与机械手避障两层次避障策略,提高碰撞检测效率;接着,给出了多体系统的动力学RRT*逼近最优轨迹的方法;最后,为验证算法有效性并不失一般性,选取平面2连杆FFSR模型进行数值仿真并用经典RRT^(*)算法和高斯伪谱法与之对比。仿真结果表明,该方法能够以较快的速度生成可行的机器人移动轨迹。Aiming at the problem of trajectory planning for the Free Floating Space Robot(FFSR),this paper proposes an FFSR trajectory planning method based on the kinodynamic RRT^(*)algorithm.The kinematics and dynamics model of the FFSR is first established with the pseudo linear system model reconstructed into the state space model and a weighted objective function designed considering both time and energy consumption of posture adjustment.Secondly,considering the obstacles between the initial and final positions of the manipulator,we propose a simplified obstacle avoidance method,formulating a two-level obstacle avoidance strategy for robotic arms and the manipulator to improve the collision detection efficiency.The kinodynamic RRT^(*)approach to the optimal trajectory is presented.Finally,to verify the effectiveness of the algorithm without generality loss,the 2-degree of freedom FFSR model is selected for numerical simulation.The classic RRT^(*)algorithm and Gauss pseudo-spectral method are used for comparison.The simulation results show that the method can generate feasible robot trajectories with fewer iterations.

关 键 词：自由漂浮空间机器人 多目标规划 轨迹规划 动力学RRT* 障碍规避 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计] TP242.6[自动化与计算机技术—检测技术与自动化装置]