基于动力学RRT*的自由漂浮空间机器人轨迹规划

doi:10.7527/S1000-6893.2020.23877

论文

本期目录 | 过刊浏览 | 高级检索

前一篇 | 后一篇

基于动力学RRT^*的自由漂浮空间机器人轨迹规划

葛佳昊, 刘莉, 董欣心, 田维勇, 陆天和

北京理工大学宇航学院, 北京 100081

收稿日期:2020-02-15 修回日期:2020-03-08 发布日期:2020-06-12
通讯作者: 刘莉 E-mail:liuli@bit.edu.cn

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

GE Jiahao, LIU Li, DONG Xinxin, TIAN Weiyong, LU Tianhe

School of Aerospace Engineering, Beijing Institute of Technology, Beijing 100081, China

Received:2020-02-15 Revised:2020-03-08 Published:2020-06-12

摘要/Abstract

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。

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

Abstract: 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.

Key words: free floating space robots, multi-objective planning, trajectory planning, kinodynamic RRT^*, obstacle avoidance

中图分类号:

葛佳昊, 刘莉, 董欣心, 田维勇, 陆天和. 基于动力学RRT^*的自由漂浮空间机器人轨迹规划[J]. 航空学报, 2021, 42(1): 523877-523877.

GE Jiahao, LIU Li, DONG Xinxin, TIAN Weiyong, LU Tianhe. Trajectory planning for free floating space robots based on kinodynamic RRT^*[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2021, 42(1): 523877-523877.

参考文献

[1] 崔乃刚, 王平, 郭继峰, 等. 空间在轨服务技术发展综述[J]. 宇航学报, 2007, 28(4):805-811. CUI N G, WANG P, GUO J F, et al. A review of on-orbit servicing[J]. Journal of Astronautics, 2007, 28(4):805-811(in Chinese).
[2] SEDDAOUI A, SAAJ C M. Collision-free optimal trajectory for a controlled floating space robot[C]//20th Annual Conference Towards Autonomous Robotic Systems, TAROS 2019. Cham:Springer, 2019:248-260.
[3] XU W, LIANG B, XU Y. Survey of modeling, planning, and ground verification of space robotic systems[J]. Acta Astronautica, 2011, 68(11-12):1629-1649.
[4] VAFA Z, DUBOWSKY S. The kinematics and dynamics of space manipulators:The virtual manipulator approach[J]. International Journal of Robotics Research, 1990, 9(4):3-21.
[5] DUBOWSKY S, PAPADOPOULOS E. The kinematics, dynamics, and control of free-flying and free-floating space robotic systems[J]. IEEE Transactions on Robotics and Automation, 1993, 9(5):531-543.
[6] LIANG B, XU Y, BERGERMAN M, et al. Dynamically equivalent manipulator for space manipulator system[C]//Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems Innovative Robotics for Real-World Applications IROS'97. Piscataway:IEEE Press, 1997:1493-1499.
[7] 介党阳, 陆浩然, 吴晗玲, 等. 空间大型机械臂系统载运轨迹优化方法[J]. 航空学报, 2018, 39(S1):722352. JIE D Y, LU H R, WU H L, et al. Transporting trajectory optimization method for large space manipulator system[J]. Acta Aeronautica et Astronautica Sinica, 2018, 39(S1):722352(in Chinese).
[8] WANG M, LUO J, WALTER U. Trajectory planning of free-floating space robot using particle swarm optimization (PSO)[J]. Acta Astronautica, 2015, 112:77-88.
[9] WANG M, LUO J, YUAN J, et al. Coordinated trajectory planning of dual-arm space robot using constrained particle swarm optimization[J]. Acta Astronautica, 2018, 146:259-272.
[10] XU W, LIU Y, LIANG B, et al. Non-holonomic path planning of a free-floating space robotic system using genetic algorithms[J]. Advanced Robotics, 2012, 22(4):451-476.
[11] 姚其家, 戈新生. 基于混合优化策略的柔性空间机器人姿态运动规划[C]//第十届全国多体动力学与控制暨第五届全国航天动力学与控制学术会议. 北京:中国力学学会, 2017:139-145. YAO Q J, GE X S. Attitude motion planning of flexible space robot based on hybrid optimization strategy[C]//The 10th National Conference on Multibody Dynamics and Control and the 5th National Conference on Aerospace Dynamics and Control. Beijing:Chinese Society of Mechanics, 2017:139-145(in Chinese).
[12] WANG M, LUO J, FANG J, et al. Optimal trajectory planning of free-floating space manipulator using differential evolution algorithm[J]. Advances in Space Research, 2018, 61(6):1525-1536.
[13] 黄兴宏, 贾英宏, 徐世杰, 等. 全程恒定基座姿态零扰动的空间机械臂轨迹规划[J]. 北京航空航天大学学报, 2016, 43(3):488-496. HUANG X H, JIA Y H, XU S J, et al. Trajectory planning of a space manipulator with constant zero disturbance to base attitude[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 43(3):488-496(in Chinese).
[14] 戈新生, 陈凯捷. 自由漂浮空间机器人路径优化的Legendre伪谱法[J]. 力学学报, 2016, 48(4):823-831. GE X S, CHEN K J. Path planning of free floating space robot using Legendre pseudospectral method[J]. Chinese Journal of Theoretical and Applied Mechanics, 2016, 48(4):823-831(in Chinese).
[15] 曾祥鑫. 自由漂浮空间机器人路径规划及控制方法研究[D]. 哈尔滨:哈尔滨工业大学, 2018:40-50. ZENG X X. Research on path planning and control method for free-floating space robot[D]. Harbin:Harbin Institute of Technology, 2018:40-50(in Chinese).
[16] BENEVIDES J, GRASSI V JR. Path planning with collision avoidance for free-floating manipulators:A RRT-based approach[C]//Brazilian Conference on Robotics & Latin American Robotics Symposium. Cham:Springer, 2016:103-119.
[17] XU W F, YAN L, HU Z H, et al. Area-oriented coordinated trajectory planning of dual-arm space robot for capturing a tumbling target[J]. Chinese Journal of Aeronautics, 2019, 32(9):2151-2163.
[18] 贾庆轩, 陈钢, 孙汉旭, 等. 基于A^*算法的空间机械臂避障路径规划[J]. 机械工程学报, 2010, 46(13):109-115. JIA Q X, CHEN G, SUN H X, et al. Path planning for space manipulator to avoid obstacle based on A^* algorithm[J]. Chinese Journal of Mechanical Engineering, 2010, 46(13):109-115(in Chinese).
[19] 阳涵疆, 李立君, 高自成. 基于关节构形空间的混联采摘机械臂避障路径规划[J]. 农业工程学报, 2017, 33(4):55-62. YANG H J, LI L J, GAO Z C. Obstacle avoidance path planning of hybrid harvesting manipulator based on joint configuration space[J]. Transactions of the Chinese Society of Agricultural Engineering, 2017, 33(4):55-62(in Chinese).
[20] 邹宇星, 李立君, 高自成. 基于改进PRM的采摘机器人机械臂避障路径规划[J]. 传感器与微系统, 2019, 38(1):52-56. ZOU Y X, LI L J, GAO Z C. Obstacle avoidance path planning for harvesting robot arm based on improved PRM[J]. Transducer and Microsystem Technologies, 2019, 38(1):52-56(in Chinese).
[21] 谢碧云, 赵京, 刘宇. 基于快速扩展随机树的7R机械臂避障达点运动规划[J]. 机械工程学报, 2012, 48(3):67-73. XIE B Y, ZHAO J, LIU Y. Motion planning of reaching point movements for 7R robotic manipulators in obstacle environment based on rapidly-exploring random tree algorithm[J]. Chinese Journal of Mechanical Engineering, 2012, 48(3):67-73(in Chinese).
[22] TAYFUN Ç. State-Dependent Riccati Equation (SDRE) control:A survey[C]//Proceedings of the 17th World Congress of the International Federation of Automatic Control. Seoul:IFAC, 2008:3761-3775.
[23] WEBB D, BERG J. Kinodynamic RRT^*:Asymptotically optimal motion planning for robots with linear dynamics[C]//2013 IEEE International Conference on Robotics and Automation. Piscataway:IEEE Press, 2013:5054-5061.
[24] RYBUS T. Obstacle avoidance in space robotics:review of major challenges and proposed solutions[J]. Progress in Aerospace Sciences, 2018, 101:376-421.

E-mail：hkxb@buaa.edu.cn

关于我们

期刊社服务

专业学科

封面文章

友情链接

主管单位：中国科学技术协会主办单位：中国航空学会北京航空航天大学

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^*

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

[1]	冉庆波, 肖鸿, 杨富鸿, 段玉岗. 含孔曲面自动铺丝轨迹规划算法[J]. 航空学报, 2022, 43(9): 425602-425602.
[2]	孙杨, 昌敏, 白俊强. 微小型四旋翼无人机垂面栖停轨迹规划与控制[J]. 航空学报, 2022, 43(9): 325756-325756.
[3]	徐广通, 王祝, 曹严, 孙景亮, 龙腾. 动态优先级解耦的无人机集群轨迹分布式序列凸规划[J]. 航空学报, 2022, 43(2): 325059-325059.
[4]	孙昊, 孙青林, 滕海山, 周朋, 陈增强. 复杂环境下考虑动力学约束的翼伞轨迹规划[J]. 航空学报, 2021, 42(3): 324301-324301.
[5]	胡军, 李毛毛. 航天器进入制导方法综述[J]. 航空学报, 2021, 42(11): 525048-525048.
[6]	刘哲, 陆浩然, 郑伟, 闻国光, 王奕迪, 周祥. 多滑翔飞行器时间协同轨迹快速规划[J]. 航空学报, 2021, 42(11): 524497-524497.
[7]	邓云山, 夏元清, 孙中奇, 沈刚辉. 扰动环境下火星精确着陆自主轨迹规划方法[J]. 航空学报, 2021, 42(11): 524834-524834.
[8]	赵毓, 管公顺, 郭继峰, 于晓强, 颜鹏. 基于多智能体强化学习的空间机械臂轨迹规划[J]. 航空学报, 2021, 42(1): 524151-524151.
[9]	耿远卓, 李传江, 郭延宁, James Douglas BIGGS. 单推力航天器交会对接轨迹规划及跟踪控制[J]. 航空学报, 2020, 41(9): 323880-323880.
[10]	王晶, 罗明, 张定华, 陈冰. 自由曲面侧铣刀具轮廓与轨迹同步优化方法[J]. 航空学报, 2020, 41(11): 423720-423720.
[11]	宋桂林, 王显峰, 赵聪, 高天成, 薛柯. 规则回转体自动铺丝轨迹规划与丝束增减[J]. 航空学报, 2020, 41(11): 423704-423704.
[12]	周祥, 张洪波, 何睿智, 汤国建, 包为民. 基于凸优化的再入轨迹三维剖面规划方法[J]. 航空学报, 2020, 41(11): 623842-623842.
[13]	邢伯阳, 潘峰, 王位, 冯肖雪. 基于复合地标导航的动平台四旋翼飞行器自主优化降落技术[J]. 航空学报, 2019, 40(6): 322601-322601.
[14]	吴昊, 孙晟昕, 魏承, 张海博, 赵阳. 基于机器人柔性毛刷的空间翻滚目标消旋[J]. 航空学报, 2019, 40(5): 422587-422587.
[15]	黄云, 肖贵坚, 邹莱. 航空发动机叶片机器人精密砂带磨削研究现状及发展趋势[J]. 航空学报, 2019, 40(3): 22508-022508.

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*

RichHTML

PDF (PC)

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 15

编辑推荐

Metrics

本文评价

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^*