宇航学报

宇航学报 ›› 2022, Vol. 43 ›› Issue (2): 206-213.doi: 10.3873/j.issn.1000-1328.2022.02.009

• 制导、导航、控制与电子 • 上一篇    下一篇

在轨操控机器人拓邻域搜索三维路径规划

岳程斐，张枭，王宏旭，李宗凌，曹喜滨   

  1. 1. 哈尔滨工业大学(深圳) 空间科学与应用技术研究院，深圳 518055；2. 哈尔滨工业大学卫星技术研究所，哈尔滨 150001； 3. 北京空间飞行器总体设计部,北京 100094
  • 收稿日期:2021-04-29 修回日期:2021-06-15 出版日期:2022-02-15 发布日期:2022-02-15
  • 基金资助:
    国家自然科学基金青年基金项目（62003115），深圳市高校稳定支持计划项目（GXWD20201230155427003 20200821170719001），深圳市海外高层次人才科研启动项目

Three dimensional Path Planning of On orbit Manipulation Robot Based on Neighborhood Continuation Search

YUE Cheng fei, ZHANG Xiao, WANG Hong xu, LI Zong ling, CAO Xi bin   

  1. 1. Institute of Space Science and Applied Technology, Harbin Institute of Technology Shenzhen, Shenzhen 518055, China;2. School of Astronautics, Harbin Institute of Technology, Harbin 150001, China;3. Beijing Institute of Spacecraft System Engineering, Beijing 100094, China
  • Received:2021-04-29 Revised:2021-06-15 Online:2022-02-15 Published:2022-02-15

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摘要： 针对空间在轨操控机器人在桁架式空间站执行操控任务时，需要在桁架间自由穿行且时刻与空间站保持接触的任务特性，提出基于拓邻域搜索蚁群算法的三维全局路径规划方法。该方法首先建立桁架式空间站的三维栅格模型；充分考虑机器人穿行时的包络约束和操控时的接触约束，在路径规划和轨迹搜索前对被操控对象的三维栅格模型进行预处理和修正，缩减路径规划搜索空间；在轨迹搜索时，基于邻域延拓思想调节搜索步长，以提高搜索效率和路径规划速度。多次仿真实验表明，所提出的路径规划方法能提高在轨操控机器人路径规划速度与全局搜索能力，有效解决空间在轨操控机器人全局路径规划问题。

关键词: 在轨操控机器人, 三维栅格模型, 全局路径规划, 拓邻域搜索蚁群算法

Abstract: Aiming at the mission requirement of the on orbit manipulation robots in different phases, i.e., walking through and attaching to the space truss in walking phase and manipulation phase, a three dimensional global path planning strategy based on the raster model and an ant colony optimization via neighborhood continuation search is proposed. In the proposed path planning strategy, a three dimensional raster model of the international space station is built and a preprocessing of the model is conducted to reduce the potential searching space. Then an ant colony optimization based on neighborhood continuation search (ACOBNCS) is proposed to adjust the search step and improve the search speed. Multiple simulation experiment results verify the effectiveness of the path planning approach in the dimensions of time and space, and solve the difficulties in three dimensional global path planning of on orbit manipulation robots.

Key words: On orbit manipulation robot, Three dimensional raster model, Global path planning, Ant colony optimization based on neighborhood continuation search

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