基于速度增量的空间绳系机器人中距离逼近过程最优轨迹规划

Abstract

Abstract: This paper proposes a multi-objective trajectory optimization approach based on velocity impulse for the medium range trajectory planning of a space tethered robot, The optimization includes total velocity impulse and flight time. First, a relative dynamic model and a trajectory optimization model are provided for an approaching target of the space tethered robot. Next, the non-dominated sorting genetic algorithm is employed to obtain the optimal trajectory Pareto solution set for a relative distance of 1.5 km. Simulation results show that this method can reveal the relationships among flight time, fuel consumption, planar view angle and velocity impulse number. By identifying multiple solutions, the approach can produce the corresponding optimal trajectory to meet different task requirements for a medium approaching range.

Key words: space tethered robot, velocity impulse, trajectory planning, genetic algorithms, Pareto optimal solutions

CLC Number:

V448.234

XU Xiudong, HUANG Panfeng, MENG Zhongjie, WANG Dongke. Space Tethered Robot Optimal Trajectory Planning for Medium Approaching Range Based on Velocity Impulse[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2012, 33(8): 1531-1539.

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Space Tethered Robot Optimal Trajectory Planning for Medium Approaching Range Based on Velocity Impulse

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