Suping Zhao, Bruno Siciliano, Zhanxia Zhu, Alejandro Guti´rrez-Giles, and Jianjun Luo
Multi-waypoint-based path planning problem, free-floating base, re-dundant space robots, waypoint-sequence, particle swarm optimiza-tion algorithm
This paper studies the multi-waypoint-based path planning prob- lem (MWPP) for redundant space robots. The end-effector of a space robot should visit a set of predefined waypoints with optimal distance, and the free-floating base should suffer minimum attitude disturbances from the manipulator during manoeuver. The MWPP is decomposed into two sub-problems: the problem of optimal waypoint-sequence and the problem of optimal joint-movements. First, the Hybrid Self-adaptive Particle Swarm Optimization al- gorithm is proposed for optimal waypoint-sequence. Second, an Improved Particle Swarm Optimization algorithm, combined with direct kinematics of the space robot, is proposed for optimal joint- movements. Finally, simulations are presented to validate the approach, including comparisons with other approaches.
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