宇航学报

宇航学报 ›› 2011, Vol. 32 ›› Issue (7): 1516-1521.doi: 10.3873/j.issn.1000-1328.2011.07.012

• 制导、导航与控制 • 上一篇    下一篇

基于多项式插值的自由漂浮空间机器人轨迹规划粒子群优化算法

石忠1,3, 王永智1, 胡庆雷2   

  1. (1. 中国民航大学航空自动化学院, 天津 300300;  2.哈尔滨工业大学航天学院, 哈尔滨 150001; 3. 滨州职业学院, 山东滨州 256603)
  • 收稿日期:2010-05-24 修回日期:2010-08-25 出版日期:2011-07-15 发布日期:2011-07-27
  • 基金资助:

    收稿日期：20100524;
    \ 修回日期：20100825

A Polynomial Interpolation Based Particle Swarm Optimization Algorithm
for Trajectory Planning of Free-Floating Space Robot

SHI Zhong1,3, WANG Yong-zhi1, HU Qing-lei2   

  1. (1. College of Aeronautical Automation, Civil Aviation University of China, Tianjin 300300,China; 2. School of Astronuantics, Harbin Institute of Technology, Harbin 150001, China; 3. Binzhou Vocation College, Binzhou 256600, China)
  • Received:2010-05-24 Revised:2010-08-25 Online:2011-07-15 Published:2011-07-27

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摘要： 针对自由漂浮空间机器人轨迹规划问题，提出一种基于多项式插值与粒子群优化算法相结合的非完整运动规划方法。首先，通过对系统非完整约束条件进行分析，给出了以机械臂关节角耗散能为目标函数的轨迹最优控制算法；并采用高阶多项式插值方法逼近机械臂关节角轨迹，将插值多项式的系数作为优化参数，结合粒子群优化算法对关节角轨迹进行优化求解。最后，对本文提出的轨迹规划算法进行数值仿真。仿真结果表明关节角轨迹平滑连续，保证了关节角速度及关节角加速度在初始和终止状态均为零，从而验证了所提方法的有效性和可行性。

关键词: 自由漂浮, 空间机器人, 多项式插值, 粒子群优化算法, 非完整运动规划

Abstract: A nonholonomic motion planning methodology for Free\|Floating Space Robot (FFSR) is proposed by using polynomial interpolation combined with particle swarm optimization algorithm. More specifically, under the nonholonomic constrained conditions of system, the optimal control technique is applied for FFSR trajectory planning, in which the dissipative energy of the manipulator joint angles is considered as an objective function. Moreover, the high order polynomial is used to approach the trajectories of the joint angles, and set the coefficients of the interpolation polynomial as optimization parameters. The particle swarm optimization is implemented to achieve the optimal trajectory, such that the planned joint angle trajectories are smooth and continuous, and the angular velocities and the accelerations of joints at the initial and final equal to zero. Numerical simulation results demonstrate that the proposed method is effective and available for solving the Free\|Floating trajectory planning problem.

Key words: Free-floating, Space robot, Polynomial interpolation, Particle swarm optimization, Nonholonomic motion planning

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