空间机器人避碰路径规划-毕业论文外文翻译

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1、文文献：SpaceRobotPathPlanningforCollisionAvoidanceYuyaYanoshitaandShinichiTsudaAbstract—Thispaperdealswithapathplanningofspacerobotwhichincludesacollisionavoidancealgorithm.Forthefuturespacerobotoperation,autonomousandself-containedpathplanningismandatorytocaptureatargetwith

2、outtheaidofgroundstation.Especiallythecollisionavoidancewithtargetitselfmustbealwaysconsidered.Oncethelocation,shapeandgrasppointofthetargetareidentified,thosewillbeexpressedintheconfigurationspace.Andinthispaperapotentialmethod.Laplacepotentialfunctionisappliedtoobtainth

3、epathintheconfigurationspaceinordertoavoidso-calleddeadlockphenomenon.Improvementonthegenerationofthepathhasbeenobservedbyapplyingpathsmoothingmethod,whichutilizesthesplinefunctioninterpolation.Thisreducesthecomputationalloadandgeneratesthesmoothpathofthespacerobot.Theval

4、idityofthisapproachisshownbyafewnumericalsimulations.KeyWords—SpaceRobot,PathPlanning,CollisionAvoidance,PotentialFunction,SplineInterpolationI.INTRODUCTIONInthefuturespacedevelopment,thespacerobotanditsautonomywillbekeyfeaturesofthespacetechnology.Thespacerobotwillplayro

5、lestoconstructspacestructuresandperforminspectionsandmaintenanceofspacecrafts.Theseoperationsareexpectedtobeperformedinanautonomous.Intheabovespacerobotoperations,abasicandimportanttaskistocapturefreeflyingtargetsonorbitbytheroboticarm.Forthesafecapturingoperation,itwillb

6、erequiredtomovethearmfrominitialposturetofinalposturewithoutcollisionswiththetarget.Theconfigurationspaceandartificialpotentialmethodsareoftenappliedtotheoperationplanningoftheusualrobot.Thisenablestherobotarmtoevadetheobstacleandtomovetoward-15-thetarget.Khatibproposedam

7、otionplanningmethod,inwhichbetweeneachlinkoftherobotandtheobstacletherepulsivepotentialisdefinedandbetweentheend-effecteroftherobotandthegoaltheattractivepotentialisdefinedandbysummingbothofthepotentialsandusingthegradientofthispotentialfieldthepathisgenerated.Thismethodi

8、sadvantageousbyitssimplicityandapplicabilityforreal-timeoperation.Howevertheremightbepointsatwhi