一种可变形桁架避障规划方法*

doi:10.3969/j.issn.1674-1579.2017.05.006

空间控制技术与应用 ›› 2017, Vol. 43 ›› Issue (5): 37-42.doi: 10.3969/j.issn.1674-1579.2017.05.006

一种可变形桁架避障规划方法*

邓雅，王泽国，张锦江

（北京控制工程研究所，北京 100190）

收稿日期:2017-02-18 出版日期:2017-10-20 发布日期:2018-01-03
作者简介:作者简介：邓雅（1988—），女，博士研究生，研究方向为航天器控制；王泽国（1988—），男，博士研究生，研究方向为航天器姿态控制；张锦江（1973—），男，研究员，研究方向为航天器控制、制导与仿真.
基金资助:
*国家重点基础发展计划资助项目（2013CB733100）.

A Method on Obstacle Avoidance Planning for Variable Geometry Truss

DENG Ya, WANG Ze-Guo, ZHANG Jin-Jiang

(Beijing Institute of Control Engineering， Beijing 100190， China)

Received:2017-02-18 Online:2017-10-20 Published:2018-01-03

摘要/Abstract

摘要： 摘要：为解决VGT的避障规划问题，给出一种等效机械臂模型并分析单级VGT正向递推运动学中的冗余问题.针对等效模型，利用遗传算法设计避障规划算法得到等效模型变量，再反算VGT各级可调杆长度得到VGT的避障算法.所得结果使得VGT等效机械臂模型各级具有相同的移动关节长度，且相邻两级转动关节角度变化较小.对避障规划结果和VGT到等效模型的变换进行仿真验证对比，验证算法有效性.

关键词: 关键词：可变形桁架, 避障规划, 遗传算法, 等效机械臂模型

Abstract: Abstract：To design the obstacle avoidance planning method for variable geometry truss (VGT), an equivalent manipulator model is proposed. The redundant problem in the forward kinematics of single VGT is analyzed and a truss geometry is obtained with the only solution if each varied link is specified. The obstacle avoidance planning for the equivalent model is designed using genetic algorithm and optimized variables of equivalent model are obtained. Accordingly, the length of each varied link is obtained and the geometry of VGT could also be computed with the forward kinematics. In the optimized geometry of VGT, distances among middle points of fixed links remain constant and angle differences among VGT modules are small. The effectiveness of the proposed algorithm is shown via numerical simulations.

Key words: Keywords：variable geometry truss, obstacle avoidance, genetic algorithm, equivalent manipulator model

中图分类号:

中图分类号： V448.2

邓雅, 王泽国, 张锦江. 一种可变形桁架避障规划方法*[J]. 空间控制技术与应用, 2017, 43(5): 37-42.

DENG Ya, WANG Ze-Guo, ZHANG Jin-Jiang. A Method on Obstacle Avoidance Planning for Variable Geometry Truss[J]. , 2017, 43(5): 37-42.

参考文献

参考文献［1］MIURA K， FURUYA H， SUZUKI K. Variable geometry truss and its application to deployable truss and space crane arm［J］. Acta Astronautica, 1985, 12(85): 599607. ［2］HUANG S, NATORI M C, MIURA K. Motion control of freefloating variable geometry truss. Part 1: Kinematics［J］. Journal of Guidance, Control, and Dynamics, 1996, 19(4): 756763. ［3］HUANG S, NATORI M C, MIURA K. Motion control of freefloating variable geometry truss. Part 2: Inverse Kinematics［J］. Journal of Guidance, Control, and Dynamics, 1996, 19(4): 764771. ［4］MUROTSU Y, SENDA K, HISAJI K. Optimal configuration control of an intelligent truss structure［C］//Proceedings of the 1st Joint U.S./Japan Conference on Adaptive Structures. PA: Lancaster, 1991:157175. ［5］SUTTER T R, BUSH H G. A comparison of two trusses for the space station structure［C］//AIAA Structures, Structural Dynamics, and Materials Conference. Washington D.C.: AIAA, 1989. ［6］UTKU S, RAMESH A V, DAS S K, et al. Control of a slowmoving space crane as an adaptive structure［J］. AIAA Journal, 1991, 25(6): 961967. ［7］HANAHARA K, TADA Y. Motion of variable geometry truss for momentum management in spacecraft［J］. AIAA Journal, 2002, 40(8): 16731676. ［8］LATOMBE J C. Robot motion planning［M］. New York: Springer Science + Business Media, 1991. ［9］NEARCHOU A C. Solving the inverse kinematics problem of redundant robots operating in complex environments via a modified genetic algorithm［J］. Mechanism and Machine Theory, 1998, 33(3): 273292. ［10］CHIRIKJIAN G S, BURDICK J W. An obstacle avoidance algorithm for hyperredundant manipulators［C］//IEEE International Conference on Robotics and Automation. New York: IEEE, 1990. ［11］MARCOS MDG, MACHADO J, AZEVEDOPERDICOULIS TP. Trajectory planning of redundant manipulators using genetic algorithms［J］. Communications in Nonlinear Science and Numerical Simulation, 2009, 14(7): 28582869. ［12］MOTAHARI A, ZOHOOR H, KORAYEM M H. A new motion planning method for discretely actuated hyperredundant manipulators［J］. Robotica, 2017, 35: 101118. ［13］AGIRREBEITIA J, AVILS R, DE BUSTOS I F, et al. Inverse position problem in highly redundant multibody systems in environments with obstacles［J］. Mechanism and Machine Theory, 2003, 38(11): 12151235. ［14］SPONG M W, VIDYASAGAR M. Robot dynamics and control［M］. New York: John Wiley & Sons, 1989.

[1]	丁祎男, 田科丰, 王淑一. 4基于遗传禁忌混合算法的敏捷卫星任务规划[J]. 空间控制技术与应用, 2019, 45(6): 27-.
[2]	李政广, 袁长清, 于海莉, 左晨熠. 行星悬浮轨道保持控制研究[J]. 空间控制技术与应用, 2019, 45(6): 33-.
[3]	肖春晖, 邹媛媛, 李少远. 有障碍区域的多无人机多目标点路径规划[J]. 空间控制技术与应用, 2019, 45(4): 46-.
[4]	张俊杰, 姚世东, 彭波, 张庆利. 异面构型太阳能电池阵展开轨迹优化[J]. 空间控制技术与应用, 2016, 42(1): 20-24.
[5]	禹凯, 徐明, 贾英宏, 徐世杰. 基于离子推进技术的轨道转移设计[J]. 空间控制技术与应用, 2013, 39(5): 39-42.
[6]	钱航, 郑建华. 太阳帆航天器行星际轨道转移优化算法[J]. 空间控制技术与应用, 2012, 38(1): 18-22.

一种可变形桁架避障规划方法*

A Method on Obstacle Avoidance Planning for Variable Geometry Truss

PDF (PC)

赞

可视化

摘要/Abstract

引用本文

使用本文

参考文献

相关文章 6

Metrics

本文评价

推荐阅读 0